mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.7 KiB
C
49 lines
1.7 KiB
C
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#ifndef AP_OPTICALFLOW_H
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#define AP_OPTICALFLOW_H
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/*
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AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
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Code by Randy Mackay. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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Methods:
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init() : initializate sensor and library.
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read : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
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read_register() : reads a value from the sensor (will be sensor specific)
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write_register() : writes a value to one of the sensor's register (will be sensor specific)
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*/
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#include <stdlib.h>
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#include <inttypes.h>
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#include <math.h>
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#include "WConstants.h"
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// return value definition
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#define OPTICALFLOW_FAIL 0
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#define OPTICALFLOW_SUCCESS 1
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class AP_OpticalFlow
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{
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public:
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int x, y; // total x,y position
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int dx, dy; // change in x and y position
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int surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
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public:
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AP_OpticalFlow(); // Constructor
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virtual void init(boolean initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
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virtual int read(); // read latest values from sensor and fill in x,y and totals
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virtual byte read_register(byte address);
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virtual void write_register(byte address, byte value);
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private:
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};
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#include "AP_OpticalFlow_ADNS3080.h"
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#endif
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