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AP_OpticalFlow: small fixes to test sketch to make it work with modified lib

This commit is contained in:
rmackay9 2012-09-14 21:03:20 +09:00
parent cb584f81fb
commit 163a7841f6
1 changed files with 24 additions and 5 deletions
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29
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
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@ -7,6 +7,9 @@
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <SPI.h> // Arduino SPI library
#include <SPI3.h> // SPI3 library
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include "AP_OpticalFlow.h" // ArduCopter OpticalFlow Library
////////////////////////////////////////////////////////////////////////////////
@ -19,8 +22,14 @@
//
FastSerialPort0(Serial); // FTDI/console
AP_OpticalFlow_ADNS3080 flowSensor; // for APM1
//AP_OpticalFlow_ADNS3080_APM2 flowSensor(A3); // override chip select pin to use A3 if using APM2
#define MS5611_CS 40 // barometer chip select pin
#define CONFIG_MPU6000_CHIP_SELECT_PIN 53 // MPU600 chip select pin
//AP_OpticalFlow_ADNS3080 flowSensor; // for APM1
AP_OpticalFlow_ADNS3080 flowSensor(A3); // override chip select pin to use A3 if using APM2 or APM2.5
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
void setup()
{
@ -29,8 +38,18 @@ void setup()
delay(1000);
// disable other devices on this bus
pinMode(MS5611_CS,OUTPUT);
pinMode(CONFIG_MPU6000_CHIP_SELECT_PIN,OUTPUT);
digitalWrite(MS5611_CS, HIGH);
digitalWrite(CONFIG_MPU6000_CHIP_SELECT_PIN, HIGH);
// initialise timer
isr_registry.init();
scheduler.init(&isr_registry);
// flowSensor initialization
if( flowSensor.init(true) == false ) {
if( flowSensor.init(true, &scheduler) == false ) {
Serial.print("Failed to initialise ADNS3080 ");
}
@ -306,11 +325,11 @@ void display_motion()
delay(1000);
while( !Serial.available() ) {
flowSensor.update();
//flowSensor.update();
flowSensor.update_position(0,0,0,1,100);
// check for errors
if( flowSensor._overflow )
if( flowSensor.overflow() )
Serial.println("overflow!!");
// x,y,squal