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AP_HAL_Linux: Enable optical flow onboard for BBBMINI

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mirkix 2016-02-06 21:14:51 +01:00 committed by Lucas De Marchi
parent f777a25de8
commit 5b8de06beb
4 changed files with 10 additions and 5 deletions
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3
libraries/AP_HAL_Linux/Flow_PX4.cpp
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@ -38,7 +38,8 @@
****************************************************************************/ ****************************************************************************/
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#include "Flow_PX4.h" #include "Flow_PX4.h"
#include <math.h> #include <math.h>

3
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -180,7 +180,8 @@ static Empty::RCOutput rcoutDriver;
static Scheduler schedulerInstance; static Scheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static OpticalFlow_Onboard opticalFlow; static OpticalFlow_Onboard opticalFlow;
#else #else
static Empty::OpticalFlow opticalFlow; static Empty::OpticalFlow opticalFlow;

6
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
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@ -15,7 +15,8 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#include "OpticalFlow_Onboard.h" #include "OpticalFlow_Onboard.h"
#include <vector> #include <vector>
@ -88,7 +89,8 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n"); AP_HAL::panic("OpticalFlow_Onboard: couldn't set subdev fmt\n");
} }
_format = V4L2_PIX_FMT_NV12; _format = V4L2_PIX_FMT_NV12;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
std::vector<uint32_t> pixel_formats; std::vector<uint32_t> pixel_formats;
_videoin->get_pixel_formats(&pixel_formats); _videoin->get_pixel_formats(&pixel_formats);

3
libraries/AP_HAL_Linux/VideoIn.cpp
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@ -19,7 +19,8 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#include "VideoIn.h" #include "VideoIn.h"
#include <errno.h> #include <errno.h>