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OpticalFlow: replace ENABLE with TYPE

master
Randy Mackay 6 years ago
parent
69626ba855
commit
d2a2caf3a6
2 changed files with 62 additions and 37 deletions
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  1. 85
      libraries/AP_OpticalFlow/OpticalFlow.cpp
  2. 14
      libraries/AP_OpticalFlow/OpticalFlow.h

85
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -10,13 +10,24 @@ @@ -10,13 +10,24 @@
extern const AP_HAL::HAL& hal;
#ifndef OPTICAL_FLOW_TYPE_DEFAULT
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 || defined(HAL_HAVE_PIXARTFLOW_SPI)
#define OPTICAL_FLOW_TYPE_DEFAULT OpticalFlowType::PIXART
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#define OPTICAL_FLOW_TYPE_DEFAULT OpticalFlowType::BEBOP
#else
#define OPTICAL_FLOW_TYPE_DEFAULT OpticalFlowType::NONE
#endif
#endif
const AP_Param::GroupInfo OpticalFlow::var_info[] = {
// @Param: _ENABLE
// @DisplayName: Optical flow enable/disable
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
// @Values: 0:Disabled, 1:Enabled
// @Param: _TYPE
// @DisplayName: Optical flow sensor type
// @Description: Optical flow sensor type
// @Values: 0:None, 1:PX4Flow, 2:Pixart, 3:Bebop, 4:CXOF, 5:MAVLink
// @User: Standard
AP_GROUPINFO("_ENABLE", 0, OpticalFlow, _enabled, 0),
// @RebootRequired: True
AP_GROUPINFO("_TYPE", 0, OpticalFlow, _type, (int8_t)OPTICAL_FLOW_TYPE_DEFAULT),
// @Param: _FXSCALER
// @DisplayName: X axis optical flow scale factor correction
@ -70,7 +81,14 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = { @@ -70,7 +81,14 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
// @Range: 0 127
// @User: Advanced
AP_GROUPINFO("_ADDR", 5, OpticalFlow, _address, 0),
// the parameter description below is for GCSs (like MP) that use master for the parameter descriptions. This should be removed when Copter-3.7 is released
// @Param: _TYPE
// @DisplayName: Optical flow enable/disable
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
// @Values: 0:Disabled, 1:Enabled
// @User: Standard
AP_GROUPEND
};
@ -86,42 +104,39 @@ void OpticalFlow::init(uint32_t log_bit) @@ -86,42 +104,39 @@ void OpticalFlow::init(uint32_t log_bit)
{
_log_bit = log_bit;
// return immediately if not enabled
if (!_enabled) {
// return immediately if not enabled or backend already created
if ((_type == (int8_t)OpticalFlowType::NONE) || (backend != nullptr)) {
return;
}
if (!backend) {
#if AP_FEATURE_BOARD_DETECT
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PCNC1) {
// possibly have pixhart on external SPI
backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_SP01) {
backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
}
if (backend == nullptr) {
backend = AP_OpticalFlow_PX4Flow::detect(*this);
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_SITL(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
backend = new AP_OpticalFlow_Onboard(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
switch ((OpticalFlowType)_type.get()) {
case OpticalFlowType::NONE:
break;
case OpticalFlowType::PX4FLOW:
backend = AP_OpticalFlow_PX4Flow::detect(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
break;
case OpticalFlowType::PIXART:
backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
#elif defined(HAL_HAVE_PIXARTFLOW_SPI)
backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
#endif
if (backend == nullptr) {
backend = AP_OpticalFlow_CXOF::detect(*this);
}
if (backend == nullptr) {
backend = AP_OpticalFlow_MAV::detect(*this);
backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
}
break;
case OpticalFlowType::BEBOP:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
backend = new AP_OpticalFlow_Onboard(*this);
#endif
break;
case OpticalFlowType::CXOF:
backend = AP_OpticalFlow_CXOF::detect(*this);
break;
case OpticalFlowType::MAVLINK:
backend = AP_OpticalFlow_MAV::detect(*this);
break;
case OpticalFlowType::SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_SITL(*this);
#endif
break;
}
if (backend != nullptr) {

14
libraries/AP_OpticalFlow/OpticalFlow.h
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@ -42,11 +42,21 @@ public: @@ -42,11 +42,21 @@ public:
return _singleton;
}
enum class OpticalFlowType {
NONE = 0,
PX4FLOW = 1,
PIXART = 2,
BEBOP = 3,
CXOF = 4,
MAVLINK = 5,
SITL = 10
};
// init - initialise sensor
void init(uint32_t log_bit);
// enabled - returns true if optical flow is enabled
bool enabled() const { return _enabled; }
bool enabled() const { return _type != (int8_t)OpticalFlowType::NONE; }
// healthy - return true if the sensor is healthy
bool healthy() const { return backend != nullptr && _flags.healthy; }
@ -98,7 +108,7 @@ private: @@ -98,7 +108,7 @@ private:
} _flags;
// parameters
AP_Int8 _enabled; // enabled/disabled flag
AP_Int8 _type; // user configurable sensor type
AP_Int16 _flowScalerX; // X axis flow scale factor correction - parts per thousand
AP_Int16 _flowScalerY; // Y axis flow scale factor correction - parts per thousand
AP_Int16 _yawAngle_cd; // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees

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