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uncrustify libraries/AP_OpticalFlow/AP_OpticalFlow.cpp

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uncrustify 2012-08-16 23:20:51 -07:00 committed by Pat Hickey
parent 0fb7e82792
commit ce14ba0868
1 changed files with 48 additions and 48 deletions
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96
libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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@ -1,12 +1,12 @@
/*
ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
Code by James Goppert. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
* ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
* Code by James Goppert. DIYDrones.com
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*/
#include "AP_OpticalFlow.h"
@ -18,9 +18,9 @@ AP_OpticalFlow* AP_OpticalFlow::_sensor = NULL; // pointer to the last instanti
bool
AP_OpticalFlow::init(bool initCommAPI)
{
_orientation = ROTATION_NONE;
update_conversion_factors();
return true; // just return true by default
_orientation = ROTATION_NONE;
update_conversion_factors();
return true; // just return true by default
}
// set_orientation - Rotation vector to transform sensor readings to the body frame.
@ -34,14 +34,14 @@ AP_OpticalFlow::set_orientation(enum Rotation rotation)
bool
AP_OpticalFlow::update()
{
return true;
return true;
}
// reads a value from the sensor (will be sensor specific)
byte
AP_OpticalFlow::read_register(byte address)
{
return 0;
return 0;
}
// writes a value to one of the sensor's register (will be sensor specific)
@ -54,60 +54,60 @@ AP_OpticalFlow::write_register(byte address, byte value)
void
AP_OpticalFlow::apply_orientation_matrix()
{
Vector3f rot_vector;
rot_vector(raw_dx, raw_dy, 0);
Vector3f rot_vector;
rot_vector(raw_dx, raw_dy, 0);
// next rotate dx and dy
rot_vector.rotate(_orientation);
// next rotate dx and dy
rot_vector.rotate(_orientation);
dx = rot_vector.x;
dy = rot_vector.y;
dx = rot_vector.x;
dy = rot_vector.y;
// add rotated values to totals (perhaps this is pointless as we need to take into account yaw, roll, pitch)
x += dx;
y += dy;
// add rotated values to totals (perhaps this is pointless as we need to take into account yaw, roll, pitch)
x += dx;
y += dy;
}
// updatse conversion factors that are dependent upon field_of_view
void
AP_OpticalFlow::update_conversion_factors()
{
conv_factor = (1.0 / (float)(num_pixels * scaler)) * 2.0 * tan(field_of_view / 2.0); // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
// 0.00615
radians_to_pixels = (num_pixels * scaler) / field_of_view;
// 162.99
conv_factor = (1.0 / (float)(num_pixels * scaler)) * 2.0 * tan(field_of_view / 2.0); // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
// 0.00615
radians_to_pixels = (num_pixels * scaler) / field_of_view;
// 162.99
}
// updates internal lon and lat with estimation based on optical flow
void
AP_OpticalFlow::update_position(float roll, float pitch, float cos_yaw_x, float sin_yaw_y, float altitude)
{
float diff_roll = roll - _last_roll;
float diff_pitch = pitch - _last_pitch;
float diff_roll = roll - _last_roll;
float diff_pitch = pitch - _last_pitch;
// only update position if surface quality is good and angle is not over 45 degrees
if( surface_quality >= 10 && fabs(roll) <= FORTYFIVE_DEGREES && fabs(pitch) <= FORTYFIVE_DEGREES ) {
altitude = max(altitude, 0);
// calculate expected x,y diff due to roll and pitch change
exp_change_x = diff_roll * radians_to_pixels;
exp_change_y = -diff_pitch * radians_to_pixels;
// only update position if surface quality is good and angle is not over 45 degrees
if( surface_quality >= 10 && fabs(roll) <= FORTYFIVE_DEGREES && fabs(pitch) <= FORTYFIVE_DEGREES ) {
altitude = max(altitude, 0);
// calculate expected x,y diff due to roll and pitch change
exp_change_x = diff_roll * radians_to_pixels;
exp_change_y = -diff_pitch * radians_to_pixels;
// real estimated raw change from mouse
change_x = dx - exp_change_x;
change_y = dy - exp_change_y;
// real estimated raw change from mouse
change_x = dx - exp_change_x;
change_y = dy - exp_change_y;
float avg_altitude = (altitude + _last_altitude)*0.5;
float avg_altitude = (altitude + _last_altitude)*0.5;
// convert raw change to horizontal movement in cm
x_cm = -change_x * avg_altitude * conv_factor; // perhaps this altitude should actually be the distance to the ground? i.e. if we are very rolled over it should be longer?
y_cm = -change_y * avg_altitude * conv_factor; // for example if you are leaned over at 45 deg the ground will appear farther away and motion from opt flow sensor will be less
// convert raw change to horizontal movement in cm
x_cm = -change_x * avg_altitude * conv_factor; // perhaps this altitude should actually be the distance to the ground? i.e. if we are very rolled over it should be longer?
y_cm = -change_y * avg_altitude * conv_factor; // for example if you are leaned over at 45 deg the ground will appear farther away and motion from opt flow sensor will be less
// convert x/y movements into lon/lat movement
vlon = x_cm * sin_yaw_y + y_cm * cos_yaw_x;
vlat = y_cm * sin_yaw_y - x_cm * cos_yaw_x;
}
// convert x/y movements into lon/lat movement
vlon = x_cm * sin_yaw_y + y_cm * cos_yaw_x;
vlat = y_cm * sin_yaw_y - x_cm * cos_yaw_x;
}
_last_altitude = altitude;
_last_roll = roll;
_last_pitch = pitch;
_last_altitude = altitude;
_last_roll = roll;
_last_pitch = pitch;
}