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AP_OpticalFlow: remove unnecessary init from CSOF and add comments

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also replace greater-than-zero with is_positive
This commit is contained in:
Randy Mackay 2018-11-28 20:10:30 +09:00
parent 4f738ca906
commit 671f39c874
2 changed files with 6 additions and 4 deletions
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4
libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
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@ -97,6 +97,7 @@ void AP_OpticalFlow_CXOF::update(void)
} }
// record gyro values as long as they are being used // record gyro values as long as they are being used
// the sanity check of dt below ensures old gyro values are not used
if (gyro_sum_count < 1000) { if (gyro_sum_count < 1000) {
const Vector3f& gyro = AP::ahrs_navekf().get_gyro(); const Vector3f& gyro = AP::ahrs_navekf().get_gyro();
gyro_sum.x += gyro.x; gyro_sum.x += gyro.x;
@ -171,7 +172,8 @@ void AP_OpticalFlow_CXOF::update(void)
float dt = (this_frame_us - last_frame_us) * 1.0e-6; float dt = (this_frame_us - last_frame_us) * 1.0e-6;
last_frame_us = this_frame_us; last_frame_us = this_frame_us;
if ((dt > 0.0f) && (dt < CXOF_TIMEOUT_SEC)) { // sanity check dt
if (is_positive(dt) && (dt < CXOF_TIMEOUT_SEC)) {
// calculate flow values // calculate flow values
const Vector2f flowScaler = _flowScaler(); const Vector2f flowScaler = _flowScaler();
float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x; float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;

6
libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
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@ -20,10 +20,10 @@ public:
private: private:
AP_HAL::UARTDriver *uart = nullptr; // uart connected to flow sensor AP_HAL::UARTDriver *uart; // uart connected to flow sensor
uint64_t last_frame_us; // system time of last message from flow sensor uint64_t last_frame_us; // system time of last message from flow sensor
uint8_t buf[10]; // buff of characters received from flow sensor uint8_t buf[10]; // buff of characters received from flow sensor
uint8_t buf_len = 0; // number of characters in buffer uint8_t buf_len; // number of characters in buffer
Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor
uint16_t gyro_sum_count = 0; // number of gyro sensor values in sum uint16_t gyro_sum_count; // number of gyro sensor values in sum
}; };