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43 lines
1.5 KiB
43 lines
1.5 KiB
#pragma once |
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#include "AP_OpticalFlow.h" |
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#ifndef AP_OPTICALFLOW_MAV_ENABLED |
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#define AP_OPTICALFLOW_MAV_ENABLED AP_OPTICALFLOW_ENABLED |
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#endif |
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#if AP_OPTICALFLOW_MAV_ENABLED |
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#include <AP_HAL/utility/OwnPtr.h> |
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class AP_OpticalFlow_MAV : public OpticalFlow_backend |
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{ |
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public: |
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/// constructor |
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using OpticalFlow_backend::OpticalFlow_backend; |
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// initialise the sensor |
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void init() override {} |
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// read latest values from sensor and fill in x,y and totals. |
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void update(void) override; |
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// get update from mavlink |
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void handle_msg(const mavlink_message_t &msg) override; |
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// detect if the sensor is available |
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static AP_OpticalFlow_MAV *detect(AP_OpticalFlow &_frontend); |
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private: |
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uint64_t prev_frame_us; // system time of last message when update was last called |
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uint64_t latest_frame_us; // system time of most recent messages processed |
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Vector2l flow_sum; // sum of sensor's flow_x and flow_y values since last call to update |
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uint16_t quality_sum; // sum of sensor's quality values since last call to update |
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uint16_t count; // number of sensor readings since last call to update |
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uint8_t sensor_id; // sensor_id received in latest mavlink message |
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Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor |
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uint16_t gyro_sum_count; // number of gyro sensor values in sum |
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}; |
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#endif // AP_OPTICALFLOW_MAV_ENABLED
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