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95 lines
3.2 KiB
95 lines
3.2 KiB
#ifndef __OpticalFlow_H__ |
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#define __OpticalFlow_H__ |
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/* |
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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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* OpticalFlow.h - OpticalFlow Base Class for Ardupilot |
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* Code by Randy Mackay. DIYDrones.com |
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* |
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* Methods: |
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* init() : initializate sensor and library. |
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* read : reads latest value from OpticalFlow and |
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* stores values in x,y, surface_quality parameter |
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* read_register() : reads a value from the sensor (will be |
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* sensor specific) |
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* write_register() : writes a value to one of the sensor's |
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* register (will be sensor specific) |
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*/ |
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#include <AP_Math.h> |
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#include <AP_AHRS.h> |
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class OpticalFlow |
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{ |
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public: |
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// constructor |
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OpticalFlow(const AP_AHRS &ahrs); |
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// init - initialise sensor |
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virtual void init() {} |
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// enabled - returns true if optical flow is enabled |
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bool enabled() const { return _enabled; } |
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// healthy - return true if the sensor is healthy |
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bool healthy() const { return _flags.healthy; } |
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// read latest values from sensor and fill in x,y and totals. |
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virtual void update() {} |
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// quality - returns the surface quality as a measure from 0 ~ 255 |
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uint8_t quality() const { return _surface_quality; } |
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// raw - returns the raw movement from the sensor |
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const Vector2i& raw() const { return _raw; } |
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// velocity - returns the velocity in m/s |
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const Vector2f& velocity() const { return _velocity; } |
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// device_id - returns device id |
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uint8_t device_id() const { return _device_id; } |
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// return ground distance in meters (if available) |
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float ground_distance_m() const { return _ground_distance_m; } |
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// last_update() - returns system time of last sensor update |
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uint32_t last_update() const { return _last_update; } |
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// parameter var info table |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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struct AP_OpticalFlow_Flags { |
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uint8_t healthy : 1; // true if sensor is healthy |
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} _flags; |
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// external references |
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const AP_AHRS &_ahrs; // ahrs object |
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// parameters |
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AP_Int8 _enabled; // enabled/disabled flag |
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// internal variables |
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uint8_t _device_id; // device id |
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uint8_t _surface_quality; // image quality (below 15 you can't trust the dx,dy values returned) |
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Vector2i _raw; // raw x,y values from sensor |
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Vector2f _velocity; // x, y velocity in m/s |
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float _ground_distance_m; // ground distance in m |
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uint32_t _last_update; // millis() time of last update |
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}; |
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#endif
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