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AP_OpticalFlow: Add parameters for flow sensor position offset

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priseborough 2016-10-08 09:56:00 +11:00 committed by Andrew Tridgell
parent 24f9e7365d
commit 9c7ab639a1
2 changed files with 25 additions and 1 deletions
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19
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -35,6 +35,25 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("_ORIENT_YAW", 3, OpticalFlow, _yawAngle_cd, 0), AP_GROUPINFO("_ORIENT_YAW", 3, OpticalFlow, _yawAngle_cd, 0),
// @Param: _POS_X
// @DisplayName: X position offset
// @Description: X position of the optical flow sensor focal point in body frame.
// @Units: m
// @User: Advanced
// @Param: _POS_Y
// @DisplayName: Y position offset
// @Description: Y position of the optical flow sensor focal point in body frame.
// @Units: m
// @User: Advanced
// @Param: _POS_Z
// @DisplayName: Z position offset
// @Description: Z position of the optical flow sensor focal point in body frame.
// @Units: m
// @User: Advanced
AP_GROUPINFO("_POS", 4, OpticalFlow, _pos_offset, 0.0f),
AP_GROUPEND AP_GROUPEND
}; };

7
libraries/AP_OpticalFlow/OpticalFlow.h
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@ -73,6 +73,11 @@ public:
// support for HIL/SITL // support for HIL/SITL
void setHIL(const struct OpticalFlow_state &state); void setHIL(const struct OpticalFlow_state &state);
// return a 3D vector defining the position offset of the sensors focal point in metres relative to the body frame origin
const Vector3f get_pos_offset(void) const {
return _pos_offset;
}
private: private:
OpticalFlow_backend *backend; OpticalFlow_backend *backend;
@ -85,7 +90,7 @@ private:
AP_Int16 _flowScalerX; // X axis flow scale factor correction - parts per thousand AP_Int16 _flowScalerX; // X axis flow scale factor correction - parts per thousand
AP_Int16 _flowScalerY; // Y axis flow scale factor correction - parts per thousand AP_Int16 _flowScalerY; // Y axis flow scale factor correction - parts per thousand
AP_Int16 _yawAngle_cd; // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees AP_Int16 _yawAngle_cd; // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees
AP_Vector3f _pos_offset; // position offset of the flow sensor in the body frame
// state filled in by backend // state filled in by backend
struct OpticalFlow_state _state; struct OpticalFlow_state _state;