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Optflow - added reference to FastSerial to resolve compile error on Arduino 1.0. 

also removed reference to DCM (no longer required) and removed some old code.
This commit is contained in:
Randy Mackay 2012-02-18 18:09:40 +09:00
parent 92b3f86996
commit 33aa6fe13b
2 changed files with 2 additions and 29 deletions
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29
libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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@ -108,31 +108,4 @@ AP_OpticalFlow::update_position(float roll, float pitch, float cos_yaw_x, float
_last_altitude = altitude;
_last_roll = roll;
_last_pitch = pitch;
}
/*
{
// only update position if surface quality is good and angle is not over 45 degrees
if( surface_quality >= 10 && fabs(_dcm->roll) <= FORTYFIVE_DEGREES && fabs(_dcm->pitch) <= FORTYFIVE_DEGREES ) {
altitude = max(altitude, 0);
Vector3f omega = _dcm->get_gyro();
// calculate expected x,y diff due to roll and pitch change
float exp_change_x = omega.x * radians_to_pixels;
float exp_change_y = -omega.y * radians_to_pixels;
// real estimated raw change from mouse
float change_x = dx - exp_change_x;
float change_y = dy - exp_change_y;
// convert raw change to horizontal movement in cm
float x_cm = -change_x * altitude * conv_factor; // perhaps this altitude should actually be the distance to the ground? i.e. if we are very rolled over it should be longer?
float y_cm = -change_y * altitude * conv_factor; // for example if you are leaned over at 45 deg the ground will appear farther away and motion from opt flow sensor will be less
vlon = (float)x_cm * sin_yaw_y - (float)y_cm * cos_yaw_x;
vlat = (float)y_cm * sin_yaw_y - (float)x_cm * cos_yaw_x;
}
}
*/
}

2
libraries/AP_OpticalFlow/AP_OpticalFlow.h
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@ -17,8 +17,8 @@
write_register() : writes a value to one of the sensor's register (will be sensor specific)
*/
#include <FastSerial.h>
#include <AP_Math.h>
#include <AP_DCM.h>
#include <AP_Common.h>
// standard rotation matrices