You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
33 lines
1.1 KiB
33 lines
1.1 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
#pragma once |
|
|
|
class AP_HAL::OpticalFlow { |
|
public: |
|
class Data_Frame { |
|
public: |
|
float pixel_flow_x_integral; |
|
float pixel_flow_y_integral; |
|
float gyro_x_integral; |
|
float gyro_y_integral; |
|
uint32_t delta_time; |
|
uint8_t quality; |
|
}; |
|
|
|
virtual void init() = 0; |
|
virtual bool read(Data_Frame& frame) = 0; |
|
virtual void push_gyro(float gyro_x, float gyro_y, float dt) = 0; |
|
virtual void push_gyro_bias(float gyro_bias_x, float gyro_bias_y) = 0; |
|
};
|
|
|