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26 lines
663 B
26 lines
663 B
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef AP_OpticalFlow_PX4_H |
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#define AP_OpticalFlow_PX4_H |
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#include "OpticalFlow.h" |
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class AP_OpticalFlow_PX4 : public OpticalFlow |
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{ |
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public: |
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/// constructor |
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AP_OpticalFlow_PX4(const AP_AHRS &ahrs) : OpticalFlow(ahrs) {}; |
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// init - initialise the sensor |
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virtual void init(); |
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// update - read latest values from sensor and fill in x,y and totals. |
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virtual void update(void); |
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private: |
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int _fd; // file descriptor for sensor |
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uint64_t _last_timestamp; // time of last update (used to avoid processing old reports) |
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}; |
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#endif
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