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uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow.h

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uncrustify 2012-08-16 23:20:51 -07:00 committed by Pat Hickey
parent dcee71d442
commit 6cce7d3a04
1 changed files with 53 additions and 45 deletions
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libraries/AP_OpticalFlow/AP_OpticalFlow.h
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@ -2,20 +2,20 @@
#define AP_OPTICALFLOW_H #define AP_OPTICALFLOW_H
/* /*
AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega * AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
Code by Randy Mackay. DIYDrones.com * Code by Randy Mackay. DIYDrones.com
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*
Methods: * Methods:
init() : initializate sensor and library. * init() : initializate sensor and library.
read : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter * read : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
read_register() : reads a value from the sensor (will be sensor specific) * read_register() : reads a value from the sensor (will be sensor specific)
write_register() : writes a value to one of the sensor's register (will be sensor specific) * write_register() : writes a value to one of the sensor's register (will be sensor specific)
*/ */
#include <FastSerial.h> #include <FastSerial.h>
#include <AP_Math.h> #include <AP_Math.h>
@ -23,40 +23,48 @@
class AP_OpticalFlow class AP_OpticalFlow
{ {
public: public:
int raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated) int raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated)
int surface_quality; // image quality (below 15 you really can't trust the x,y values returned) int surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
int x,y; // total x,y position int x,y; // total x,y position
int dx,dy; // rotated change in x and y position int dx,dy; // rotated change in x and y position
float vlon, vlat; // position as offsets from original position float vlon, vlat; // position as offsets from original position
unsigned long last_update; // millis() time of last update unsigned long last_update; // millis() time of last update
float field_of_view; // field of view in Radians float field_of_view; // field of view in Radians
float scaler; // number returned from sensor when moved one pixel float scaler; // number returned from sensor when moved one pixel
int num_pixels; // number of pixels of resolution in the sensor int num_pixels; // number of pixels of resolution in the sensor
// temp variables - delete me! // temp variables - delete me!
float exp_change_x, exp_change_y; float exp_change_x, exp_change_y;
float change_x, change_y; float change_x, change_y;
float x_cm, y_cm; float x_cm, y_cm;
AP_OpticalFlow() { _sensor = this; }; AP_OpticalFlow() {
~AP_OpticalFlow() { _sensor = NULL; }; _sensor = this;
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) };
virtual byte read_register(byte address); ~AP_OpticalFlow() {
virtual void write_register(byte address, byte value); _sensor = NULL;
virtual void set_orientation(enum Rotation rotation); // Rotation vector to transform sensor readings to the body frame. };
virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); }; // sets field of view of sensor 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)
static void read(uint32_t ) { if( _sensor != NULL ) _sensor->update(); }; // call to update all attached sensors virtual byte read_register(byte address);
virtual bool update(); // read latest values from sensor and fill in x,y and totals. returns true on success virtual void write_register(byte address, byte value);
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 virtual void set_orientation(enum Rotation rotation); // Rotation vector to transform sensor readings to the body frame.
virtual void set_field_of_view(const float fov) {
field_of_view = fov; update_conversion_factors();
}; // sets field of view of sensor
static void read(uint32_t ) {
if( _sensor != NULL ) _sensor->update();
}; // call to update all attached sensors
virtual bool update(); // read latest values from sensor and fill in x,y and totals. returns true on success
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
protected: protected:
static AP_OpticalFlow *_sensor; // pointer to the last instantiated optical flow sensor. Will be turned into a table if we ever add support for more than one sensor static AP_OpticalFlow * _sensor; // pointer to the last instantiated optical flow sensor. Will be turned into a table if we ever add support for more than one sensor
enum Rotation _orientation; enum Rotation _orientation;
float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude) float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
float radians_to_pixels; float radians_to_pixels;
float _last_roll, _last_pitch, _last_altitude; float _last_roll, _last_pitch, _last_altitude;
virtual void apply_orientation_matrix(); // rotate raw values to arrive at final x,y,dx and dy values virtual void apply_orientation_matrix(); // rotate raw values to arrive at final x,y,dx and dy values
virtual void update_conversion_factors(); virtual void update_conversion_factors();
}; };
#include "AP_OpticalFlow_ADNS3080.h" #include "AP_OpticalFlow_ADNS3080.h"