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35 lines
738 B
35 lines
738 B
#pragma once |
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#include "OpticalFlow_backend.h" |
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#if HAL_WITH_UAVCAN |
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#include <AP_UAVCAN/AP_UAVCAN.h> |
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class MeasurementCb; |
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class AP_OpticalFlow_HereFlow : public OpticalFlow_backend { |
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public: |
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AP_OpticalFlow_HereFlow(OpticalFlow &flow); |
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void init() override {} |
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void update() override; |
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan); |
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static void handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MeasurementCb &cb); |
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private: |
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Vector2f flowRate, bodyRate; |
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uint8_t surface_quality; |
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float integral_time; |
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bool new_data; |
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static uint8_t _node_id; |
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static AP_OpticalFlow_HereFlow* _driver; |
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static AP_UAVCAN* _ap_uavcan; |
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void _push_state(void); |
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}; |
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#endif //HAL_WITH_UAVCAN
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