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OptFlow: remove unused variables

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Saves 24bytes RAM by removing several static variables that were used
only for internal calculations
This commit is contained in:
Randy Mackay 2014-02-10 13:53:01 +09:00
parent b907263685
commit d19b566d97
3 changed files with 8 additions and 15 deletions
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12
libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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@ -43,19 +43,17 @@ void AP_OpticalFlow::update_position(float roll, float pitch, float sin_yaw, flo
{ {
float diff_roll = roll - _last_roll; float diff_roll = roll - _last_roll;
float diff_pitch = pitch - _last_pitch; float diff_pitch = pitch - _last_pitch;
float change_x, change_y; // actual change in x, y coordinates
// only update position if surface quality is good and angle is not // only update position if surface quality is good and angle is not
// over 45 degrees // over 45 degrees
if( surface_quality >= 10 && fabsf(roll) <= FORTYFIVE_DEGREES if( surface_quality >= 10 && fabsf(roll) <= FORTYFIVE_DEGREES
&& fabsf(pitch) <= FORTYFIVE_DEGREES ) { && fabsf(pitch) <= FORTYFIVE_DEGREES ) {
altitude = max(altitude, 0); 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 in position is actual change measured by sensor (i.e. dx, dy) minus expected change due to change in roll, pitch
change_x = dx - exp_change_x; change_x = dx - (diff_roll * radians_to_pixels);
change_y = dy - exp_change_y; change_y = dy - (-diff_pitch * radians_to_pixels);
float avg_altitude = (altitude + _last_altitude)*0.5f; float avg_altitude = (altitude + _last_altitude)*0.5f;

5
libraries/AP_OpticalFlow/AP_OpticalFlow.h
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@ -57,17 +57,12 @@ public:
void update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude); void update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude);
// public variables // public variables
int16_t raw_dx; // raw sensor change in x and y position (i.e. unrotated)
int16_t raw_dy; // raw sensor change in x and y position (i.e. unrotated)
uint8_t surface_quality; // image quality (below 15 you can't trust the dx,dy values returned) uint8_t surface_quality; // image quality (below 15 you can't trust the dx,dy values returned)
int16_t dx,dy; // rotated change in x and y position int16_t dx,dy; // rotated change in x and y position
uint32_t last_update; // millis() time of last update uint32_t 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
// public variables for reporting purposes // public variables for reporting purposes
float exp_change_x, exp_change_y; // expected change in x, y coordinates
float change_x, change_y; // actual change in x, y coordinates
float x_cm, y_cm; // x,y position in cm float x_cm, y_cm; // x,y position in cm
protected: protected:

6
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
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@ -29,7 +29,6 @@ extern const AP_HAL::HAL& hal;
AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080() AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080()
{ {
field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV; field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
scaler = AP_OPTICALFLOW_ADNS3080_SCALER_1600;
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
@ -176,6 +175,7 @@ void AP_OpticalFlow_ADNS3080::write_register(uint8_t address, uint8_t value)
void AP_OpticalFlow_ADNS3080::update(void) void AP_OpticalFlow_ADNS3080::update(void)
{ {
uint8_t motion_reg; uint8_t motion_reg;
int16_t raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated)
surface_quality = read_register(ADNS3080_SQUAL); surface_quality = read_register(ADNS3080_SQUAL);
hal.scheduler->delay_microseconds(50); hal.scheduler->delay_microseconds(50);
@ -267,9 +267,9 @@ void AP_OpticalFlow_ADNS3080::update_conversion_factors()
{ {
// multiply this number by altitude and pixel change to get horizontal // multiply this number by altitude and pixel change to get horizontal
// move (in same units as altitude) // move (in same units as altitude)
conv_factor = ((1.0f / (float)(ADNS3080_PIXELS_X * scaler)) conv_factor = ((1.0f / (float)(ADNS3080_PIXELS_X * AP_OPTICALFLOW_ADNS3080_SCALER_1600))
* 2.0f * tanf(field_of_view / 2.0f)); * 2.0f * tanf(field_of_view / 2.0f));
// 0.00615 // 0.00615
radians_to_pixels = (ADNS3080_PIXELS_X * scaler) / field_of_view; radians_to_pixels = (ADNS3080_PIXELS_X * AP_OPTICALFLOW_ADNS3080_SCALER_1600) / field_of_view;
// 162.99 // 162.99
} }