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75 lines
2.2 KiB
75 lines
2.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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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* AP_OpticalFlow_PX4.cpp - ardupilot library for PX4Flow sensor |
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* |
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*/ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include "AP_OpticalFlow_PX4.h" |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <drivers/drv_px4flow.h> |
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#include <uORB/topics/optical_flow.h> |
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extern const AP_HAL::HAL& hal; |
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// Public Methods ////////////////////////////////////////////////////////////// |
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void AP_OpticalFlow_PX4::init(void) |
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{ |
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_fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); |
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// check for failure to open device |
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if (_fd < 0) { |
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hal.console->printf("Unable to open " PX4FLOW_DEVICE_PATH "\n"); |
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return; |
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} |
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// if we got this far, the sensor must be healthy |
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_flags.healthy = true; |
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} |
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// update - read latest values from sensor and fill in x,y and totals. |
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void AP_OpticalFlow_PX4::update(void) |
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{ |
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// return immediately if not healthy |
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if (!_flags.healthy) { |
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return; |
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} |
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struct optical_flow_s report; |
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while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && report.timestamp != _last_timestamp) { |
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_device_id = report.sensor_id; |
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_surface_quality = report.quality; |
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_raw.x = report.flow_raw_x; |
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_raw.y = report.flow_raw_y; |
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_velocity.x = report.flow_comp_x_m; |
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_velocity.y = report.flow_comp_y_m; |
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_last_timestamp = report.timestamp; |
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_last_update = hal.scheduler->millis(); |
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} |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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