mirror of https://github.com/ArduPilot/ardupilot
added sin and cos yaw from DCM, renamed "get" function because it doesn't return a value.
This commit is contained in:
Jason Short
parent
f79b8de5e8
commit
45778a4e81
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@ -12,15 +12,11 @@
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#define FORTYFIVE_DEGREES 0.78539816
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AP_OpticalFlow::AP_OpticalFlow() : raw_dx(0),raw_dy(0),x(0),y(0),surface_quality(0),dx(0),dy(0),last_update(0),field_of_view(1),scaler(0),num_pixels(0)
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{
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}
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// init - initCommAPI parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
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bool
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AP_OpticalFlow::init(bool initCommAPI)
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{
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_orientation_matrix = Matrix3f(1,0,0,0,1,0,0,0,1);
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_orientation_matrix = Matrix3f(1, 0, 0, 0, 1, 0, 0, 0, 1);
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update_conversion_factors();
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return true; // just return true by default
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}
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@ -56,7 +52,7 @@ AP_OpticalFlow::apply_orientation_matrix()
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Vector3f rot_vector;
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// next rotate dx and dy
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rot_vector = _orientation_matrix * Vector3f(raw_dx,raw_dy,0);
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rot_vector = _orientation_matrix * Vector3f(raw_dx, raw_dy, 0);
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dx = rot_vector.x;
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dy = rot_vector.y;
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@ -69,26 +65,22 @@ AP_OpticalFlow::apply_orientation_matrix()
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void
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AP_OpticalFlow::update_conversion_factors()
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{
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conv_factor = (1.0/(float)(num_pixels*scaler))*2.0*tan(field_of_view/2.0); // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
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radians_to_pixels = (num_pixels*scaler) / field_of_view;
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conv_factor = (1.0 / (float)(num_pixels * scaler)) * 2.0 * tan(field_of_view / 2.0); // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
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// 0.00615
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radians_to_pixels = (num_pixels * scaler) / field_of_view;
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// 162.99
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}
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// updates internal lon and lat with estimation based on optical flow
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void
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AP_OpticalFlow::get_position(float roll, float pitch, float yaw, float altitude)
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AP_OpticalFlow::update_position(float roll, float pitch, float cos_yaw_x, float sin_yaw_y, float altitude)
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{
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float diff_roll = roll - _last_roll;
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float diff_pitch = pitch - _last_pitch;
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float avg_altitude = (altitude + _last_altitude)/2;
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//float exp_change_x, exp_change_y;
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//float change_x, change_y;
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//float x_cm, y_cm;
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float cos_yaw = cos(yaw);
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float sin_yaw = sin(yaw);
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int i;
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float diff_roll = roll - _last_roll;
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float diff_pitch = pitch - _last_pitch;
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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(roll) <= FORTYFIVE_DEGREES && fabs(pitch) <= FORTYFIVE_DEGREES ) {
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altitude = max(altitude, 0);
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// calculate expected x,y diff due to roll and pitch change
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exp_change_x = diff_roll * radians_to_pixels;
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exp_change_y = -diff_pitch * radians_to_pixels;
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@ -101,13 +93,35 @@ AP_OpticalFlow::get_position(float roll, float pitch, float yaw, float altitude)
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x_cm = -change_x * avg_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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y_cm = -change_y * avg_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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// use yaw to convert x and y into lon and lat
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lat += y_cm * cos_yaw - x_cm * sin_yaw;
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lng += x_cm * cos_yaw + y_cm * sin_yaw;
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}
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// capture roll and pitch for next iteration
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_last_roll = roll;
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_last_pitch = pitch;
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_last_altitude = altitude;
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vlon = x_cm * sin_yaw_y - y_cm * cos_yaw_x;
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vlat = y_cm * sin_yaw_y - x_cm * cos_yaw_x;
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}
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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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@ -15,11 +15,11 @@
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read : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
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read_register() : reads a value from the sensor (will be sensor specific)
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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 "WProgram.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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// return value definition
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#define OPTICALFLOW_FAIL 0
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@ -37,12 +37,12 @@
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class AP_OpticalFlow
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{
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public:
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public:
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int raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated)
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int surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
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int x,y; // total x,y position
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int dx,dy; // rotated change in x and y position
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float lng, lat; // position as offsets from original position
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float vlon, vlat; // position as offsets from original position
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unsigned long last_update; // millis() time of last update
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float field_of_view; // field of view in Radians
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float scaler; // number returned from sensor when moved one pixel
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@ -51,15 +51,17 @@ class AP_OpticalFlow
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float exp_change_x, exp_change_y;
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float change_x, change_y;
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float x_cm, y_cm;
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public:
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AP_OpticalFlow(); // Constructor
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//AP_OpticalFlow(AP_DCM *dcm);
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virtual bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
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virtual byte read_register(byte address);
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virtual void write_register(byte address, byte value);
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virtual void set_orientation(const Matrix3f &rotation_matrix); // Rotation vector to transform sensor readings to the body frame.
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virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); }; // sets field of view of sensor
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virtual int read(); // read latest values from sensor and fill in x,y and totals
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virtual void get_position(float roll, float pitch, float yaw, float altitude); // updates internal lon and lat with estimation based on optical flow
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virtual void update_position(float roll, float pitch, float cos_yaw_x, float sin_yaw_y, float altitude); // updates internal lon and lat with estimation based on optical flow
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//protected:
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Matrix3f _orientation_matrix;
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@ -70,6 +72,4 @@ class AP_OpticalFlow
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virtual void update_conversion_factors();
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};
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#include "AP_OpticalFlow_ADNS3080.h"
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#endif
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@ -36,15 +36,15 @@ union NumericIntType
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byte byteValue[2];
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};
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// Constructors ////////////////////////////////////////////////////////////////
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// Constructors ////////////////////////////////////////////////////////////////
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AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080()
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{
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num_pixels = ADNS3080_PIXELS_X;
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field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
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num_pixels = ADNS3080_PIXELS_X;
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field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
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scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// init - initialise sensor
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// initCommAPI parameter controls whether SPI interface is initialised (set to false if other devices are on the SPI bus and have already initialised the interface)
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@ -1,8 +1,10 @@
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#ifndef AP_OPTICALFLOW_ADNS3080_H
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#define AP_OPTICALFLOW_ADNS3080_H
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#include <AP_Math.h>
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#include <Stream.h>
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//#include <AP_Math.h>
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//#include <Stream.h>
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//#include <AP_Common.h>
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//#include "AP_OpticalFlow.h"
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#include "AP_OpticalFlow.h"
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// orientations for ADNS3080 sensor
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@ -99,7 +101,8 @@ class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
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bool _motion; // true if there has been motion
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public:
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AP_OpticalFlow_ADNS3080(); // Constructor
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AP_OpticalFlow_ADNS3080();
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//AP_OpticalFlow_ADNS3080(); // Constructor
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bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
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byte read_register(byte address);
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void write_register(byte address, byte value);
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