mirror of https://github.com/ArduPilot/ardupilot
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.
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@ -109,30 +109,3 @@ AP_OpticalFlow::update_position(float roll, float pitch, float cos_yaw_x, float
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_last_roll = roll;
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_last_pitch = pitch;
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}
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/*
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{
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// only update position if surface quality is good and angle is not over 45 degrees
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if( surface_quality >= 10 && fabs(_dcm->roll) <= FORTYFIVE_DEGREES && fabs(_dcm->pitch) <= FORTYFIVE_DEGREES ) {
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altitude = max(altitude, 0);
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Vector3f omega = _dcm->get_gyro();
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// calculate expected x,y diff due to roll and pitch change
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float exp_change_x = omega.x * radians_to_pixels;
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float exp_change_y = -omega.y * radians_to_pixels;
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// real estimated raw change from mouse
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float change_x = dx - exp_change_x;
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float change_y = dy - exp_change_y;
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// convert raw change to horizontal movement in cm
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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?
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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
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vlon = (float)x_cm * sin_yaw_y - (float)y_cm * cos_yaw_x;
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vlat = (float)y_cm * sin_yaw_y - (float)x_cm * cos_yaw_x;
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}
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}
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*/
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@ -17,8 +17,8 @@
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write_register() : writes a value to one of the sensor's register (will be sensor specific)
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*/
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#include <FastSerial.h>
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#include <AP_Math.h>
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#include <AP_DCM.h>
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#include <AP_Common.h>
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// standard rotation matrices
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