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Copter: integrate shrunken optflow

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This commit is contained in:
Randy Mackay 2014-01-09 12:29:50 +09:00
parent 3823eed865
commit 9f2f44f0f6
5 changed files with 5 additions and 32 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -341,8 +341,6 @@ static SITL sitl;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
static AP_OpticalFlow_ADNS3080 optflow; static AP_OpticalFlow_ADNS3080 optflow;
#else
static AP_OpticalFlow optflow;
#endif #endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////

6
ArduCopter/Log.pde
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@ -239,8 +239,6 @@ struct PACKED log_Optflow {
uint8_t surface_quality; uint8_t surface_quality;
int16_t x_cm; int16_t x_cm;
int16_t y_cm; int16_t y_cm;
float latitude;
float longitude;
int32_t roll; int32_t roll;
int32_t pitch; int32_t pitch;
}; };
@ -256,8 +254,6 @@ static void Log_Write_Optflow()
surface_quality : optflow.surface_quality, surface_quality : optflow.surface_quality,
x_cm : (int16_t) optflow.x_cm, x_cm : (int16_t) optflow.x_cm,
y_cm : (int16_t) optflow.y_cm, y_cm : (int16_t) optflow.y_cm,
latitude : optflow.vlat,
longitude : optflow.vlon,
roll : of_roll, roll : of_roll,
pitch : of_pitch pitch : of_pitch
}; };
@ -737,7 +733,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CURRENT_MSG, sizeof(log_Current), { LOG_CURRENT_MSG, sizeof(log_Current),
"CURR", "hIhhhf", "ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" }, "CURR", "hIhhhf", "ThrOut,ThrInt,Volt,Curr,Vcc,CurrTot" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), { LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "hhBccffee", "Dx,Dy,SQual,X,Y,Lat,Lng,Roll,Pitch" }, "OF", "hhBccee", "Dx,Dy,SQual,X,Y,Roll,Pitch" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning), { LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
"NTUN", "Ecffffffffee", "WPDst,WPBrg,PErX,PErY,DVelX,DVelY,VelX,VelY,DAcX,DAcY,DRol,DPit" }, "NTUN", "Ecffffffffee", "WPDst,WPBrg,PErX,PErY,DVelX,DVelY,VelX,VelY,DAcX,DAcY,DRol,DPit" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),

9
ArduCopter/config.h
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@ -369,15 +369,6 @@
#ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI) #ifndef OPTFLOW // sets global enabled/disabled flag for optflow (as seen in CLI)
# define OPTFLOW ENABLED # define OPTFLOW ENABLED
#endif #endif
#ifndef OPTFLOW_ORIENTATION
# define OPTFLOW_ORIENTATION AP_OPTICALFLOW_ADNS3080_PINS_FORWARD
#endif
#ifndef OPTFLOW_RESOLUTION
# define OPTFLOW_RESOLUTION ADNS3080_RESOLUTION_1600
#endif
#ifndef OPTFLOW_FOV
# define OPTFLOW_FOV AP_OPTICALFLOW_ADNS3080_08_FOV
#endif
// optical flow based loiter PI values // optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P #ifndef OPTFLOW_ROLL_P
#define OPTFLOW_ROLL_P 2.5f #define OPTFLOW_ROLL_P 2.5f

16
ArduCopter/sensors.pde
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@ -78,21 +78,11 @@ static void init_compass()
static void init_optflow() static void init_optflow()
{ {
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
if( optflow.init() == false ) { optflow.init();
if (!optflow.healthy()) {
g.optflow_enabled = false; g.optflow_enabled = false;
cliSerial->print_P(PSTR("\nFailed to Init OptFlow ")); cliSerial->print_P(PSTR("Failed to Init OptFlow\n"));
Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE); Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE);
}else{
// suspend timer while we set-up SPI communication
hal.scheduler->suspend_timer_procs();
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
// resume timer
hal.scheduler->resume_timer_procs();
} }
#endif // OPTFLOW == ENABLED #endif // OPTFLOW == ENABLED
} }

4
ArduCopter/test.pde
View File

@ -286,10 +286,8 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
while(1) { while(1) {
delay(200); delay(200);
optflow.update(); optflow.update();
cliSerial->printf_P(PSTR("x/dx: %d/%d\t y/dy %d/%d\t squal:%d\n"), cliSerial->printf_P(PSTR("dx:%d\t dy:%d\t squal:%d\n"),
optflow.x,
optflow.dx, optflow.dx,
optflow.y,
optflow.dy, optflow.dy,
optflow.surface_quality); optflow.surface_quality);