ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* Portions of this driver were borrowed from the PX4Firmware px4flow driver which can be found here:
* https://github.com/PX4/Firmware/blob/master/src/drivers/px4flow/px4flow.cpp
*/
#pragma once
#include "OpticalFlow.h"
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
class AP_OpticalFlow_Linux : public OpticalFlow_backend
{
public:
// constructor
AP_OpticalFlow_Linux(OpticalFlow &_frontend);
// initialise the sensor
void init();
// read latest values from sensor and fill in x,y and totals.
void update(void);
private:
typedef struct PACKED {
uint16_t frame_count;
int16_t pixel_flow_x_sum;
int16_t pixel_flow_y_sum;
int16_t flow_comp_m_x;
int16_t flow_comp_m_y;
int16_t qual;
int16_t gyro_x_rate;
int16_t gyro_y_rate;
int16_t gyro_z_rate;
uint8_t gyro_range;
uint8_t sonar_timestamp;
int16_t ground_distance;
} i2c_frame;
typedef struct PACKED {
uint16_t frame_count_since_last_readout;
int16_t pixel_flow_x_integral;
int16_t pixel_flow_y_integral;
int16_t gyro_x_rate_integral;
int16_t gyro_y_rate_integral;
int16_t gyro_z_rate_integral;
uint32_t integration_timespan;
uint32_t sonar_timestamp;
uint16_t ground_distance;
int16_t gyro_temperature;
uint8_t qual;
} i2c_integral_frame;
typedef struct {
uint64_t timestamp; // in microseconds since system start
uint8_t sensor_id; // id of the sensor emitting the flow value
float pixel_flow_x_integral; // accumulated optical flow in radians around x axis
float pixel_flow_y_integral; // accumulated optical flow in radians around y axis
float gyro_x_rate_integral; // accumulated gyro value in radians around x axis
float gyro_y_rate_integral; // accumulated gyro value in radians around y axis
float gyro_z_rate_integral; // accumulated gyro value in radians around z axis
float ground_distance_m; // Altitude / distance to ground in meters
uint32_t integration_timespan; // accumulation time span in microseconds
uint32_t time_since_last_sonar_update; // time since last sonar update in microseconds
uint16_t frame_count_since_last_readout;//number of accumulated frames in time span
int16_t gyro_temperature; // Temperature * 100 in centi-degrees celsius
uint8_t quality; // Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
} optical_flow_s;
// request the sensor produce a measurement, returns true on success
bool request_measurement();
// read from sensor, returns true if successful
bool read(optical_flow_s* report);
bool initialised = false;
uint16_t num_errors = 0;
uint32_t last_read_ms = 0;
};