mirror of https://github.com/ArduPilot/ardupilot
30 lines
1015 B
C
30 lines
1015 B
C
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#pragma once
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#include "OpticalFlow.h"
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#include <AP_HAL/utility/OwnPtr.h>
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class AP_OpticalFlow_CXOF : public OpticalFlow_backend
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{
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public:
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/// constructor
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AP_OpticalFlow_CXOF(OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
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// initialise the sensor
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void init() override;
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// read latest values from sensor and fill in x,y and totals.
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void update(void) override;
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// detect if the sensor is available
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static AP_OpticalFlow_CXOF *detect(OpticalFlow &_frontend);
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private:
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AP_HAL::UARTDriver *uart = nullptr; // uart connected to flow sensor
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uint64_t last_frame_us; // system time of last message from flow sensor
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uint8_t buf[10]; // buff of characters received from flow sensor
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uint8_t buf_len = 0; // number of characters in buffer
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Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor
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uint16_t gyro_sum_count = 0; // number of gyro sensor values in sum
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};
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