zr-v4/libraries/AP_OpticalFlow/OpticalFlow.cpp

#include <AP_BoardConfig/AP_BoardConfig.h>
#include "OpticalFlow.h"
#include "AP_OpticalFlow_Onboard.h"
#include "AP_OpticalFlow_SITL.h"
#include "AP_OpticalFlow_Pixart.h"
#include "AP_OpticalFlow_PX4Flow.h"
#include "AP_OpticalFlow_CXOF.h"
#include <AP_Logger/AP_Logger.h>

extern const AP_HAL::HAL& hal;

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
    // @User: Standard
    AP_GROUPINFO("_ENABLE", 0,  OpticalFlow,    _enabled,   0),

    // @Param: _FXSCALER
    // @DisplayName: X axis optical flow scale factor correction
    // @Description: This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.
    // @Range: -200 +200
    // @Increment: 1
    // @User: Standard
    AP_GROUPINFO("_FXSCALER", 1,  OpticalFlow,    _flowScalerX,   0),

    // @Param: _FYSCALER
    // @DisplayName: Y axis optical flow scale factor correction
    // @Description: This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.
    // @Range: -200 +200
    // @Increment: 1
    // @User: Standard
    AP_GROUPINFO("_FYSCALER", 2,  OpticalFlow,    _flowScalerY,   0),

    // @Param: _ORIENT_YAW
    // @DisplayName: Flow sensor yaw alignment
    // @Description: Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
    // @Range: -18000 +18000
    // @Increment: 1
    // @User: Standard
    AP_GROUPINFO("_ORIENT_YAW", 3,  OpticalFlow,    _yawAngle_cd,   0),

    // @Param: _POS_X
    // @DisplayName:  X position offset
    // @Description: X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
    // @Units: m
    // @Range: -10 10
    // @User: Advanced

    // @Param: _POS_Y
    // @DisplayName: Y position offset
    // @Description: Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
    // @Units: m
    // @Range: -10 10
    // @User: Advanced

    // @Param: _POS_Z
    // @DisplayName: Z position offset
    // @Description: Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
    // @Units: m
    // @Range: -10 10
    // @User: Advanced
    AP_GROUPINFO("_POS", 4, OpticalFlow, _pos_offset, 0.0f),

    // @Param: _ADDR
    // @DisplayName: Address on the bus
    // @Description: This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
    // @Range: 0 127
    // @User: Advanced
    AP_GROUPINFO("_ADDR", 5,  OpticalFlow, _address,   0),
    
    AP_GROUPEND
};

// default constructor
OpticalFlow::OpticalFlow()
{
    _singleton = this;

    AP_Param::setup_object_defaults(this, var_info);
}

void OpticalFlow::init(uint32_t log_bit)
{
     _log_bit = log_bit;

    // return immediately if not enabled
    if (!_enabled) {
        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);
        }
        if (backend == nullptr) {
            backend = AP_OpticalFlow_CXOF::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
        backend = AP_OpticalFlow_PX4Flow::detect(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
        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->init();
    }
}

void OpticalFlow::update(void)
{
    // exit immediately if not enabled
    if (!enabled()) {
        return;
    }

    if (backend != nullptr) {
        backend->update();
    }

    // only healthy if the data is less than 0.5s old
    _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
}

void OpticalFlow::update_state(const OpticalFlow_state &state)
{
    _state = state;
    _last_update_ms = AP_HAL::millis();

    // write to log and send to EKF if new data has arrived
    AP::ahrs_navekf().writeOptFlowMeas(quality(),
                                       _state.flowRate,
                                       _state.bodyRate,
                                       _last_update_ms,
                                       get_pos_offset());
    Log_Write_Optflow();
}

void OpticalFlow::Log_Write_Optflow()
{
    AP_Logger *instance = AP_Logger::get_singleton();
    if (instance == nullptr) {
        return;
    }
    if (_log_bit != (uint32_t)-1 &&
        !instance->should_log(_log_bit)) {
        return;
    }

    struct log_Optflow pkt = {
        LOG_PACKET_HEADER_INIT(LOG_OPTFLOW_MSG),
        time_us         : AP_HAL::micros64(),
        surface_quality : _state.surface_quality,
        flow_x          : _state.flowRate.x,
        flow_y          : _state.flowRate.y,
        body_x          : _state.bodyRate.x,
        body_y          : _state.bodyRate.y
    };
    instance->WriteBlock(&pkt, sizeof(pkt));
}



// singleton instance
OpticalFlow *OpticalFlow::_singleton;

namespace AP {

OpticalFlow *opticalflow()
{
    return OpticalFlow::get_singleton();
}

}