ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h

39 lines
1.2 KiB
C
Raw Normal View History

#pragma once
#include "AP_OpticalFlow.h"
#ifndef AP_OPTICALFLOW_CXOF_ENABLED
#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_ENABLED
#endif
#if AP_OPTICALFLOW_CXOF_ENABLED
#include <AP_HAL/utility/OwnPtr.h>
class AP_OpticalFlow_CXOF : public OpticalFlow_backend
{
public:
/// constructor
AP_OpticalFlow_CXOF(OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
// initialise the sensor
void init() override;
// read latest values from sensor and fill in x,y and totals.
void update(void) override;
// detect if the sensor is available
static AP_OpticalFlow_CXOF *detect(OpticalFlow &_frontend);
private:
AP_HAL::UARTDriver *uart; // uart connected to flow sensor
uint64_t last_frame_us; // system time of last message from flow sensor
uint8_t buf[10]; // buff of characters received from flow sensor
uint8_t buf_len; // number of characters in buffer
Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor
uint16_t gyro_sum_count; // number of gyro sensor values in sum
};
#endif // AP_OPTICALFLOW_CXOF_ENABLED