ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.h

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