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82 lines
2.7 KiB
82 lines
2.7 KiB
/* |
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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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* IRLock.h - IRLock Base Class for Ardupilot |
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* |
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* Created on: Nov 10, 2014 |
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* Author: MLandes |
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*/ |
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#ifndef __IRLOCK_H__ |
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#define __IRLOCK_H__ |
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#include <AP_AHRS/AP_AHRS.h> |
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#define IRLOCK_MAX_BLOCKS_PER_FRAME 5 // max number of blobs that can be detected by IR-LOCK sensor (should match PX4Firmware's irlock driver's IRLOCK_OBJECTS_MAX) |
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#define IRLOCK_CENTER_X 159 // the center x pixel value |
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#define IRLOCK_CENTER_Y 99 // the center y pixel value |
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#define IRLOCK_NOBLOB_FRAME 10 // the number of consecutive similar frames that will cause the sensor validity variable to turn false |
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#define IRLOCK_X_PIXEL_PER_DEGREE 5.374f // the x pixel to angle calibration variable |
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#define IRLOCK_Y_PIXEL_PER_DEGREE 5.698f // the y pixel to angle calibration variable |
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#define IRLOCK_TIMEOUT_MS 100 // remove all blocks if no data received within 0.1 seconds |
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typedef struct { |
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uint16_t signature; |
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uint16_t center_x; |
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uint16_t center_y; |
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uint16_t width; |
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uint16_t height; |
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} irlock_block; |
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class IRLock |
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{ |
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public: |
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IRLock(); |
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virtual ~IRLock(); |
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// init - initialize sensor library |
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// library won't be useable unless this is first called |
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virtual void init() = 0; |
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// true if irlock sensor is online and healthy |
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bool healthy() const { return _flags.healthy; } |
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// timestamp of most recent data read from the sensor |
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uint32_t last_update() const { return _last_update; } |
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// returns the number of blocks in the current frame |
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size_t num_blocks() const { return _num_blocks; } |
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// retrieve latest sensor data - returns true if new data is available |
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virtual bool update() = 0; |
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// get_angle_to_target - retrieve body frame x and y angles (in radians) to target |
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// returns true if angles are available, false if not (i.e. no target) |
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bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const; |
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protected: |
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struct AP_IRLock_Flags { |
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uint8_t healthy : 1; // true if sensor is healthy |
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} _flags; |
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// internals |
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uint32_t _last_update; |
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uint16_t _num_blocks; |
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irlock_block _current_frame[IRLOCK_MAX_BLOCKS_PER_FRAME]; |
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}; |
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#endif /* __IRLOCK_H__ */
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