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102 lines
3.3 KiB
102 lines
3.3 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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#include "AP_OpticalFlow_Onboard.h" |
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#include <AP_HAL/AP_HAL.h> |
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#include "OpticalFlow.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\ |
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(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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#ifndef OPTICALFLOW_ONBOARD_DEBUG |
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#define OPTICALFLOW_ONBOARD_DEBUG 0 |
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#endif |
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#define OPTICALFLOW_ONBOARD_ID 1 |
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extern const AP_HAL::HAL& hal; |
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AP_OpticalFlow_Onboard::AP_OpticalFlow_Onboard(OpticalFlow &_frontend) : |
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OpticalFlow_backend(_frontend) |
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{} |
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void AP_OpticalFlow_Onboard::init(void) |
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{ |
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/* register callback to get gyro data */ |
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hal.opticalflow->init(); |
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} |
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void AP_OpticalFlow_Onboard::update() |
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{ |
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AP_HAL::OpticalFlow::Data_Frame data_frame; |
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// read at maximum 10Hz |
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uint32_t now = AP_HAL::millis(); |
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if (now - _last_read_ms < 100) { |
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return; |
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} |
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_last_read_ms = now; |
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if (!hal.opticalflow->read(data_frame)) { |
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return; |
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} |
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struct OpticalFlow::OpticalFlow_state state; |
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state.device_id = OPTICALFLOW_ONBOARD_ID; |
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state.surface_quality = data_frame.quality; |
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if (data_frame.delta_time > 0) { |
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const Vector2f flowScaler = _flowScaler(); |
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float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x; |
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float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y; |
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// delta_time is in microseconds and flow is in milliradians |
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// per second, so multiply by 1000 |
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state.flowRate.x = flowScaleFactorX * 1000.0f / |
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float(data_frame.delta_time) * |
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data_frame.pixel_flow_x_integral; |
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state.flowRate.y = flowScaleFactorY * 1000.0f / |
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float(data_frame.delta_time) * |
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data_frame.pixel_flow_y_integral; |
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// delta_time is in microseconds so multiply to get back to seconds |
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state.bodyRate.x = 1000000.0f / float(data_frame.delta_time) * |
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data_frame.gyro_x_integral; |
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state.bodyRate.y = 1000000.0f / float(data_frame.delta_time) * |
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data_frame.gyro_y_integral; |
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_applyYaw(state.flowRate); |
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} else { |
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state.flowRate.zero(); |
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state.bodyRate.zero(); |
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} |
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// copy results to front end |
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_update_frontend(state); |
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#if OPTICALFLOW_ONBOARD_DEBUG |
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hal.console->printf("FLOW_ONBOARD qual:%u FlowRateX:%4.2f Y:%4.2f" |
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"BodyRateX:%4.2f Y:%4.2f, delta_time = %u\n", |
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(unsigned)state.surface_quality, |
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(double)state.flowRate.x, |
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(double)state.flowRate.y, |
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(double)state.bodyRate.x, |
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(double)state.bodyRate.y, |
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data_frame.delta_time); |
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#endif |
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} |
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#endif
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