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OptFlowPX4: use ORB to pull data from sensor

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This change is required because PX4Firmware has changed the method used
to pull data from the sensor.
This commit is contained in:
Randy Mackay 2014-10-15 14:25:55 +09:00
parent 28876b7ef6
commit a9cfbb71b8
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
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@ -30,6 +30,7 @@
#include <unistd.h> #include <unistd.h>
#include <drivers/drv_px4flow.h> #include <drivers/drv_px4flow.h>
#include <uORB/topics/optical_flow.h>
#include <stdio.h> #include <stdio.h>
#include <errno.h> #include <errno.h>
@ -54,8 +55,8 @@ void AP_OpticalFlow_PX4::init(void)
// update - read latest values from sensor and fill in x,y and totals. // update - read latest values from sensor and fill in x,y and totals.
void AP_OpticalFlow_PX4::update(void) void AP_OpticalFlow_PX4::update(void)
{ {
struct px4flow_report report; struct optical_flow_s report;
while (::read(_fd, &report, sizeof(px4flow_report)) == sizeof(px4flow_report) && report.timestamp != _last_timestamp) { while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && report.timestamp != _last_timestamp) {
_device_id = report.sensor_id; _device_id = report.sensor_id;
_surface_quality = report.quality; _surface_quality = report.quality;
_raw.x = report.flow_raw_x; _raw.x = report.flow_raw_x;
@ -65,8 +66,6 @@ void AP_OpticalFlow_PX4::update(void)
_last_timestamp = report.timestamp; _last_timestamp = report.timestamp;
_last_update = hal.scheduler->millis(); _last_update = hal.scheduler->millis();
} }
// To-Do: add support for PX4Flow's sonar by retrieving ground_distance_m from report
} }
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4 #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4