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43 lines
1.9 KiB
43 lines
1.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include <AP_Progmem.h> |
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#include "OpticalFlow.h" |
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const AP_Param::GroupInfo OpticalFlow::var_info[] PROGMEM = { |
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// @Param: ENABLE |
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// @DisplayName: Optical flow enable/disable |
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// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow |
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// @Values: 0:Disabled, 1:Enabled |
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// @User: Standard |
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AP_GROUPINFO("_ENABLE", 0, OpticalFlow, _enabled, 0), |
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// @Param: FXSCALER |
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// @DisplayName: X axis optical flow scale factor correction |
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// @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. |
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// @Range: -200 +200 |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("_FXSCALER", 1, OpticalFlow, _flowScalerX, 0), |
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// @Param: FYSCALER |
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// @DisplayName: Y axis optical flow scale factor correction |
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// @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. |
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// @Range: -200 +200 |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("_FYSCALER", 2, OpticalFlow, _flowScalerY, 0), |
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AP_GROUPEND |
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}; |
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// default constructor |
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OpticalFlow::OpticalFlow(const AP_AHRS &ahrs) : |
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_ahrs(ahrs), |
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_device_id(0), |
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_surface_quality(0), |
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_last_update(0) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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// healthy flag will be overwritten when init is called |
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_flags.healthy = false; |
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};
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