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20 lines
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#pragma once
#include "OpticalFlow.h"
class AP_OpticalFlow_PX4 : public OpticalFlow_backend
{
public:
/// constructor
AP_OpticalFlow_PX4(OpticalFlow &_frontend);
// init - initialise the sensor
void init();
// update - read latest values from sensor and fill in x,y and totals.
void update(void);
private:
int _fd; // file descriptor for sensor
uint64_t _last_timestamp; // time of last update (used to avoid processing old reports)
};