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45 lines
1.6 KiB
45 lines
1.6 KiB
#pragma once |
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#include "AP_OpticalFlow.h" |
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#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED |
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#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_ENABLED |
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#endif |
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#if AP_OPTICALFLOW_UPFLOW_ENABLED |
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#include <AP_HAL/utility/OwnPtr.h> |
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class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend |
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{ |
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public: |
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/// constructor |
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AP_OpticalFlow_UPFLOW(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *uart); |
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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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// detect if the sensor is available |
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static AP_OpticalFlow_UPFLOW *detect(AP_OpticalFlow &_frontend); |
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private: |
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struct PACKED UpixelsOpticalFlow { |
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int16_t flow_x_integral; //unit:10^-4 radians multiply by 10^-4 to get radians |
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int16_t flow_y_integral; //unit:10^-4 radians multiply by 10^-4 to get radians |
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uint16_t integration_timespan; //dt in us |
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uint16_t ground_distance; //reserved, always 999 |
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uint8_t quality; //0 for not valid, 245 for valid. |
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uint8_t version; |
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}; |
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AP_HAL::UARTDriver *uart; // uart connected to flow sensor |
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struct UpixelsOpticalFlow updata; // struct for received data |
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uint16_t recv_count; // amount of bytes received |
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uint8_t sum; //checksum |
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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_UPFLOW_ENABLED
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