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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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#include "OpticalFlow.h" |
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#include "AP_OpticalFlow_Onboard.h" |
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extern const AP_HAL::HAL& hal; |
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const AP_Param::GroupInfo OpticalFlow::var_info[] = { |
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// @Param: _ENABLE |
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// @DisplayName: Optical flow enable/disable |
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// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow |
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// @Values: 0:Disabled, 1:Enabled |
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// @User: Standard |
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AP_GROUPINFO("_ENABLE", 0, OpticalFlow, _enabled, 0), |
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// @Param: _FXSCALER |
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// @DisplayName: X axis optical flow scale factor correction |
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// @Description: This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor. |
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// @Range: -200 +200 |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("_FXSCALER", 1, OpticalFlow, _flowScalerX, 0), |
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// @Param: _FYSCALER |
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// @DisplayName: Y axis optical flow scale factor correction |
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// @Description: This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor. |
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// @Range: -200 +200 |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("_FYSCALER", 2, OpticalFlow, _flowScalerY, 0), |
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// @Param: _ORIENT_YAW |
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// @DisplayName: Flow sensor yaw alignment |
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// @Description: Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle. |
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// @Range: -18000 +18000 |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("_ORIENT_YAW", 3, OpticalFlow, _yawAngle_cd, 0), |
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AP_GROUPEND |
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}; |
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// default constructor |
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OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs) |
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: _last_update_ms(0) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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memset(&_state, 0, sizeof(_state)); |
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// healthy flag will be overwritten on update |
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_flags.healthy = false; |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
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backend = new AP_OpticalFlow_Onboard(*this, ahrs); |
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#endif |
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} |
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void OpticalFlow::init(void) |
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{ |
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if (!backend) { |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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backend = new AP_OpticalFlow_PX4(*this); |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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backend = new AP_OpticalFlow_HIL(*this); |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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backend = new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS)); |
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#endif |
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} |
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if (backend != NULL) { |
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backend->init(); |
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} else { |
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_enabled = 0; |
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} |
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} |
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void OpticalFlow::update(void) |
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{ |
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if (backend != NULL) { |
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backend->update(); |
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} |
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// only healthy if the data is less than 0.5s old |
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_flags.healthy = (AP_HAL::millis() - _last_update_ms < 500); |
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} |
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void OpticalFlow::setHIL(const struct OpticalFlow::OpticalFlow_state &state) |
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{ |
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if (backend) { |
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backend->_update_frontend(state); |
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} |
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}
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