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AP_OpticalFlow - updated test sketch to allow testing of APM2 version

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This commit is contained in:
rmackay9 2012-04-21 20:11:18 +09:00
parent e9fd7c955d
commit 577f18a09c
2 changed files with 10 additions and 7 deletions
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16
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
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@ -19,19 +19,21 @@
// //
FastSerialPort0(Serial); // FTDI/console FastSerialPort0(Serial); // FTDI/console
AP_OpticalFlow_ADNS3080 flowSensor; AP_OpticalFlow_ADNS3080 flowSensor; // for APM1
//AP_OpticalFlow_ADNS3080 flowSensor(A3); // override chip select pin to use A3 if using APM2 //AP_OpticalFlow_ADNS3080_APM2 flowSensor(A3); // override chip select pin to use A3 if using APM2
void setup() void setup()
{ {
Serial.begin(115200); Serial.begin(115200);
Serial.println("ArduPilot Mega OpticalFlow library test ver 1.5"); Serial.println("ArduPilot Mega OpticalFlow library test ver 1.5");
delay(1000); delay(1000);
// flowSensor initialization // flowSensor initialization
if( flowSensor.init() == false ) if( flowSensor.init(true) == false ) {
Serial.println("Failed to initialise ADNS3080"); Serial.print("Failed to initialise ADNS3080 ");
}
flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD); flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD);
flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV); flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV);
@ -336,7 +338,7 @@ void display_motion()
void loop() void loop()
{ {
int value; int value;
// display menu to user // display menu to user
display_menu(); display_menu();

1
libraries/AP_OpticalFlow/keywords.txt
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@ -1,5 +1,6 @@
AP_OpticalFlow KEYWORD1 AP_OpticalFlow KEYWORD1
AP_OpticalFlow_ADNS3080 KEYWORD1 AP_OpticalFlow_ADNS3080 KEYWORD1
AP_OpticalFlow_ADNS3080_APM2 KEYWORD1
init KEYWORD2 init KEYWORD2
read KEYWORD2 read KEYWORD2
update KEYWORD2 update KEYWORD2