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84 lines
2.9 KiB
84 lines
2.9 KiB
#ifndef __AP_OPTICALFLOW_H__ |
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#define __AP_OPTICALFLOW_H__ |
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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.cpp - OpticalFlow Base Class for Ardupilot Mega |
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* Code by Randy Mackay. DIYDrones.com |
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* |
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* Methods: |
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* init() : initializate sensor and library. |
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* read : reads latest value from OpticalFlow and |
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* stores values in x,y, surface_quality parameter |
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* read_register() : reads a value from the sensor (will be |
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* sensor specific) |
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* write_register() : writes a value to one of the sensor's |
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* register (will be sensor specific) |
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*/ |
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#include <AP_Math.h> |
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class AP_OpticalFlow |
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{ |
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public: |
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// constructor |
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AP_OpticalFlow() { |
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_flags.healthy = false; |
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}; |
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virtual void init(); |
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// healthy - return true if the sensor is healthy |
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bool healthy() const { return _flags.healthy; } |
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// Rotation vector to transform sensor readings to the body frame. |
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void set_orientation(enum Rotation rotation); |
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// sets field of view of sensor |
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void set_field_of_view(const float fov) { field_of_view = fov; }; |
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// read latest values from sensor and fill in x,y and totals. |
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virtual void update(); |
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// updates internal lon and lat with estimation based on optical flow |
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void update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude); |
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// public variables |
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uint8_t surface_quality; // image quality (below 15 you can't trust the dx,dy values returned) |
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int16_t dx,dy; // rotated change in x and y position |
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uint32_t last_update; // millis() time of last update |
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float field_of_view; // field of view in Radians |
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// public variables for reporting purposes |
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float x_cm, y_cm; // x,y position in cm |
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protected: |
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struct AP_OpticalFlow_Flags { |
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uint8_t healthy : 1; // true if sensor is healthy |
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} _flags; |
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enum Rotation _orientation; |
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float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude) |
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float radians_to_pixels; |
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float _last_roll; |
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float _last_pitch; |
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float _last_altitude; |
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}; |
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#include "AP_OpticalFlow_ADNS3080.h" |
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#endif
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