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34 lines
1.1 KiB
34 lines
1.1 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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#pragma once |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_NavEKF2/AP_NavEKF2.h> |
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#include <AP_NavEKF/AP_NavEKF.h> |
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#include "OpticalFlow.h" |
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class AP_OpticalFlow_Onboard : public OpticalFlow_backend |
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{ |
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public: |
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AP_OpticalFlow_Onboard(OpticalFlow &_frontend, AP_AHRS_NavEKF &ahrs); |
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void init(void); |
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void update(void); |
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private: |
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AP_AHRS &_ahrs; |
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void _get_gyro(float&, float&, float&); |
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uint32_t _last_read_ms; |
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};
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