AP_OpticalFlow - small but important fixes for position calcs

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3040 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_OpticalFlow/AP_OpticalFlow.cpp

@@ -88,10 +88,10 @@ AP_OpticalFlow::get_position(float roll, float pitch, float yaw, float altitude)
     int i;
     
 	// only update position if surface quality is good and angle is not over 45 degrees
-	if( surface_quality >= 20 && fabs(roll) <= FORTYFIVE_DEGREES && fabs(pitch) <= FORTYFIVE_DEGREES ) {
+	if( surface_quality >= 10 && fabs(roll) <= FORTYFIVE_DEGREES && fabs(pitch) <= FORTYFIVE_DEGREES ) {
 		// calculate expected x,y diff due to roll and pitch change
 		exp_change_x = diff_roll * radians_to_pixels;
-		exp_change_y = diff_pitch * radians_to_pixels;
+		exp_change_y = -diff_pitch * radians_to_pixels;
 			
 		// real estimated raw change from mouse
 		change_x = dx - exp_change_x;

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp

@@ -41,7 +41,7 @@ union NumericIntType
 AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080()
 {
     num_pixels = ADNS3080_PIXELS_X;
-    field_of_view = AP_OPTICALFLOW_ADNS3080_12_FOV;
+    field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
 	scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
 }
 

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h

@@ -16,12 +16,10 @@
 #define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT AP_OPTICALFLOW_ROTATION_YAW_225
 
 // field of view of ADNS3080 sensor lenses
-#define AP_OPTICALFLOW_ADNS3080_04_FOV 1.396263 // 80 degrees
-#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.872665 // 50 degrees
-#define AP_OPTICALFLOW_ADNS3080_12_FOV 0.349066 // 20 degrees
+#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.202458  // 11.6 degrees
 
 // scaler - value returned when sensor is moved equivalent of 1 pixel
-#define AP_OPTICALFLOW_ADNS3080_SCALER  3.4   // was 10.5
+#define AP_OPTICALFLOW_ADNS3080_SCALER  1.1
 
 // We use Serial Port 2 in SPI Mode
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
@@ -29,7 +27,7 @@
 	#define AP_SPI_DATAOUT     51    // MOSI  // PB2
 	#define AP_SPI_CLOCK       52    // SCK   // PB1
 	#define ADNS3080_CHIP_SELECT 34  // PC3
-	#define ADNS3080_RESET       35  // PC2
+	#define ADNS3080_RESET       40  // PG1  was 35 / PC2
 #else  // normal arduino SPI pins...these need to be checked
 	#define AP_SPI_DATAIN  12        //MISO 
 	#define AP_SPI_DATAOUT 11        //MOSI

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde

@@ -20,7 +20,7 @@ void setup()
 	if( flowSensor.init() == false )
 	    Serial.println("Failed to initialise ADNS3080");
 	flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD);
-	flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_12_FOV);
+	flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV);
 	
 	delay(1000);
 }
@@ -310,11 +310,7 @@ void display_motion()
 			Serial.print("/");
 			Serial.print(flowSensor.dy,DEC);
 			Serial.print("\tsqual:");
-			Serial.print(flowSensor.surface_quality,DEC);
-			Serial.print("\tlat:");
-			Serial.print(flowSensor.lat,DEC);
-			Serial.print("\tlng:");
-			Serial.print(flowSensor.lng,DEC);			
+			Serial.print(flowSensor.surface_quality,DEC);		
 			Serial.println();
 			first_time = false;
 		//}