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94 lines
3.5 KiB
94 lines
3.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* AP_OpticalFlow_PX4.cpp - ardupilot library for PX4Flow sensor |
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* |
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*/ |
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#include <AP_HAL.h> |
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#include "OpticalFlow.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <drivers/drv_px4flow.h> |
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#include <uORB/topics/optical_flow.h> |
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extern const AP_HAL::HAL& hal; |
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AP_OpticalFlow_PX4::AP_OpticalFlow_PX4(OpticalFlow &_frontend) : |
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OpticalFlow_backend(_frontend) |
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{} |
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void AP_OpticalFlow_PX4::init(void) |
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{ |
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_fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY); |
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// check for failure to open device |
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if (_fd == -1) { |
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return; |
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} |
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// change to 10Hz update |
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if (ioctl(_fd, SENSORIOCSPOLLRATE, 10) != 0) { |
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hal.console->printf("Unable to set flow rate to 10Hz\n"); |
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} |
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} |
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// update - read latest values from sensor and fill in x,y and totals. |
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void AP_OpticalFlow_PX4::update(void) |
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{ |
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// return immediately if not initialised |
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if (_fd == -1) { |
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return; |
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} |
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struct optical_flow_s report; |
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while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && |
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report.timestamp != _last_timestamp) { |
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struct OpticalFlow::OpticalFlow_state state; |
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state.device_id = report.sensor_id; |
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state.surface_quality = report.quality; |
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if (report.integration_timespan > 0) { |
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float yawAngleRad = _yawAngleRad(); |
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float cosYaw = cosf(yawAngleRad); |
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float sinYaw = sinf(yawAngleRad); |
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const Vector2f flowScaler = _flowScaler(); |
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float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x; |
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float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y; |
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float integralToRate = 1e6f / float(report.integration_timespan); |
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// rotate sensor measurements from sensor to body frame through sensor yaw angle |
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state.flowRate.x = flowScaleFactorX * integralToRate * (cosYaw * float(report.pixel_flow_x_integral) - sinYaw * float(report.pixel_flow_y_integral)); // rad/sec measured optically about the X body axis |
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state.flowRate.y = flowScaleFactorY * integralToRate * (sinYaw * float(report.pixel_flow_x_integral) + cosYaw * float(report.pixel_flow_y_integral)); // rad/sec measured optically about the Y body axis |
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state.bodyRate.x = integralToRate * (cosYaw * float(report.gyro_x_rate_integral) - sinYaw * float(report.gyro_y_rate_integral)); // rad/sec measured inertially about the X body axis |
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state.bodyRate.y = integralToRate * (sinYaw * float(report.gyro_x_rate_integral) + cosYaw * float(report.gyro_y_rate_integral)); // rad/sec measured inertially about the Y body axis |
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} else { |
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state.flowRate.zero(); |
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state.bodyRate.zero(); |
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} |
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_last_timestamp = report.timestamp; |
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_update_frontend(state); |
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} |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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