AP_OpticalFlow: rename OpticalFlow class to AP_OpticalFlow

Brings us in-line with other classes in ArduPilot.

Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets

libraries/AP_OpticalFlow/AP_OpticalFlow.cpp

@@ -19,22 +19,22 @@ extern const AP_HAL::HAL& hal;
 
 #ifndef OPTICAL_FLOW_TYPE_DEFAULT
  #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 || defined(HAL_HAVE_PIXARTFLOW_SPI)
-  #define OPTICAL_FLOW_TYPE_DEFAULT OpticalFlowType::PIXART
+  #define OPTICAL_FLOW_TYPE_DEFAULT Type::PIXART
  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-  #define OPTICAL_FLOW_TYPE_DEFAULT OpticalFlowType::BEBOP
+  #define OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP
  #else
-  #define OPTICAL_FLOW_TYPE_DEFAULT OpticalFlowType::NONE
+  #define OPTICAL_FLOW_TYPE_DEFAULT Type::NONE
  #endif
 #endif
 
-const AP_Param::GroupInfo OpticalFlow::var_info[] = {
+const AP_Param::GroupInfo AP_OpticalFlow::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Optical flow sensor type
     // @Description: Optical flow sensor type
     // @Values: 0:None, 1:PX4Flow, 2:Pixart, 3:Bebop, 4:CXOF, 5:MAVLink, 6:DroneCAN, 7:MSP, 8:UPFLOW
     // @User: Standard
     // @RebootRequired: True
-    AP_GROUPINFO_FLAGS("_TYPE", 0,  OpticalFlow,    _type,   (int8_t)OPTICAL_FLOW_TYPE_DEFAULT, AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("_TYPE", 0,  AP_OpticalFlow,    _type,   (float)OPTICAL_FLOW_TYPE_DEFAULT, AP_PARAM_FLAG_ENABLE),
 
     // @Param: _FXSCALER
     // @DisplayName: X axis optical flow scale factor correction
@@ -42,7 +42,7 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
     // @Range: -200 +200
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("_FXSCALER", 1,  OpticalFlow,    _flowScalerX,   0),
+    AP_GROUPINFO("_FXSCALER", 1,  AP_OpticalFlow,    _flowScalerX,   0),
 
     // @Param: _FYSCALER
     // @DisplayName: Y axis optical flow scale factor correction
@@ -50,7 +50,7 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
     // @Range: -200 +200
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("_FYSCALER", 2,  OpticalFlow,    _flowScalerY,   0),
+    AP_GROUPINFO("_FYSCALER", 2,  AP_OpticalFlow,    _flowScalerY,   0),
 
     // @Param: _ORIENT_YAW
     // @DisplayName: Flow sensor yaw alignment
@@ -59,7 +59,7 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
     // @Range: -17999 +18000
     // @Increment: 10
     // @User: Standard
-    AP_GROUPINFO("_ORIENT_YAW", 3,  OpticalFlow,    _yawAngle_cd,   0),
+    AP_GROUPINFO("_ORIENT_YAW", 3,  AP_OpticalFlow,    _yawAngle_cd,   0),
 
     // @Param: _POS_X
     // @DisplayName:  X position offset
@@ -84,44 +84,44 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
     // @Range: -5 5
     // @Increment: 0.01
     // @User: Advanced
-    AP_GROUPINFO("_POS", 4, OpticalFlow, _pos_offset, 0.0f),
+    AP_GROUPINFO("_POS", 4, AP_OpticalFlow, _pos_offset, 0.0f),
 
     // @Param: _ADDR
     // @DisplayName: Address on the bus
     // @Description: This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
     // @Range: 0 127
     // @User: Advanced
-    AP_GROUPINFO("_ADDR", 5,  OpticalFlow, _address,   0),
+    AP_GROUPINFO("_ADDR", 5,  AP_OpticalFlow, _address,   0),
 
     AP_GROUPEND
 };
 
 // default constructor
-OpticalFlow::OpticalFlow()
+AP_OpticalFlow::AP_OpticalFlow()
 {
     _singleton = this;
 
     AP_Param::setup_object_defaults(this, var_info);
 }
 
-void OpticalFlow::init(uint32_t log_bit)
+void AP_OpticalFlow::init(uint32_t log_bit)
 {
      _log_bit = log_bit;
 
     // return immediately if not enabled or backend already created
-    if ((_type == (int8_t)OpticalFlowType::NONE) || (backend != nullptr)) {
+    if ((_type == Type::NONE) || (backend != nullptr)) {
         return;
     }
 
-    switch ((OpticalFlowType)_type.get()) {
+    switch ((Type)_type) {
-    case OpticalFlowType::NONE:
+    case Type::NONE:
         break;
-    case OpticalFlowType::PX4FLOW:
+    case Type::PX4FLOW:
 #if AP_OPTICALFLOW_PX4FLOW_ENABLED
         backend = AP_OpticalFlow_PX4Flow::detect(*this);
 #endif
         break;
-    case OpticalFlowType::PIXART:
+    case Type::PIXART:
 #if AP_OPTICALFLOW_PIXART_ENABLED
         backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
         if (backend == nullptr) {
@@ -129,37 +129,37 @@ void OpticalFlow::init(uint32_t log_bit)
         }
 #endif
         break;
-    case OpticalFlowType::BEBOP:
+    case Type::BEBOP:
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
         backend = new AP_OpticalFlow_Onboard(*this);
 #endif
         break;
-    case OpticalFlowType::CXOF:
+    case Type::CXOF:
 #if AP_OPTICALFLOW_CXOF_ENABLED
         backend = AP_OpticalFlow_CXOF::detect(*this);
 #endif
         break;
-    case OpticalFlowType::MAVLINK:
+    case Type::MAVLINK:
 #if AP_OPTICALFLOW_MAV_ENABLED
         backend = AP_OpticalFlow_MAV::detect(*this);
 #endif
         break;
-    case OpticalFlowType::UAVCAN:
+    case Type::UAVCAN:
 #if AP_OPTICALFLOW_HEREFLOW_ENABLED
         backend = new AP_OpticalFlow_HereFlow(*this);
 #endif
         break;
-    case OpticalFlowType::MSP:
+    case Type::MSP:
 #if HAL_MSP_OPTICALFLOW_ENABLED
         backend = AP_OpticalFlow_MSP::detect(*this);
 #endif
         break;
-    case OpticalFlowType::UPFLOW:
+    case Type::UPFLOW:
 #if AP_OPTICALFLOW_UPFLOW_ENABLED
         backend = AP_OpticalFlow_UPFLOW::detect(*this);
 #endif
         break;
-    case OpticalFlowType::SITL:
+    case Type::SITL:
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         backend = new AP_OpticalFlow_SITL(*this);
 #endif
@@ -171,7 +171,7 @@ void OpticalFlow::init(uint32_t log_bit)
     }
 }
 
-void OpticalFlow::update(void)
+void AP_OpticalFlow::update(void)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -200,7 +200,7 @@ void OpticalFlow::update(void)
     }
 }
 
-void OpticalFlow::handle_msg(const mavlink_message_t &msg)
+void AP_OpticalFlow::handle_msg(const mavlink_message_t &msg)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -213,7 +213,7 @@ void OpticalFlow::handle_msg(const mavlink_message_t &msg)
 }
 
 #if HAL_MSP_OPTICALFLOW_ENABLED
-void OpticalFlow::handle_msp(const MSP::msp_opflow_data_message_t &pkt)
+void AP_OpticalFlow::handle_msp(const MSP::msp_opflow_data_message_t &pkt)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -227,7 +227,7 @@ void OpticalFlow::handle_msp(const MSP::msp_opflow_data_message_t &pkt)
 #endif //HAL_MSP_OPTICALFLOW_ENABLED
 
 // start calibration
-void OpticalFlow::start_calibration()
+void AP_OpticalFlow::start_calibration()
 {
     if (_calibrator == nullptr) {
         _calibrator = new AP_OpticalFlow_Calibrator();
@@ -242,14 +242,14 @@ void OpticalFlow::start_calibration()
 }
 
 // stop calibration
-void OpticalFlow::stop_calibration()
+void AP_OpticalFlow::stop_calibration()
 {
     if (_calibrator != nullptr) {
         _calibrator->stop();
     }
 }
 
-void OpticalFlow::update_state(const OpticalFlow_state &state)
+void AP_OpticalFlow::update_state(const OpticalFlow_state &state)
 {
     _state = state;
     _last_update_ms = AP_HAL::millis();
@@ -263,7 +263,7 @@ void OpticalFlow::update_state(const OpticalFlow_state &state)
     Log_Write_Optflow();
 }
 
-void OpticalFlow::Log_Write_Optflow()
+void AP_OpticalFlow::Log_Write_Optflow()
 {
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
@@ -289,13 +289,13 @@ void OpticalFlow::Log_Write_Optflow()
 
 
 // singleton instance
-OpticalFlow *OpticalFlow::_singleton;
+AP_OpticalFlow *AP_OpticalFlow::_singleton;
 
 namespace AP {
 
-OpticalFlow *opticalflow()
+AP_OpticalFlow *opticalflow()
 {
-    return OpticalFlow::get_singleton();
+    return AP_OpticalFlow::get_singleton();
 }
 
 }

libraries/AP_OpticalFlow/AP_OpticalFlow.h

@@ -37,23 +37,21 @@
 
 class OpticalFlow_backend;
 
-class OpticalFlow
+class AP_OpticalFlow
 {
     friend class OpticalFlow_backend;
 
 public:
-    OpticalFlow();
+    AP_OpticalFlow();
 
-    /* Do not allow copies */
+    CLASS_NO_COPY(AP_OpticalFlow);
-    OpticalFlow(const OpticalFlow &other) = delete;
-    OpticalFlow &operator=(const OpticalFlow&) = delete;
 
     // get singleton instance
-    static OpticalFlow *get_singleton() {
+    static AP_OpticalFlow *get_singleton() {
         return _singleton;
     }
 
-    enum class OpticalFlowType {
+    enum class Type {
         NONE = 0,
         PX4FLOW = 1,
         PIXART = 2,
@@ -70,7 +68,7 @@ public:
     void init(uint32_t log_bit);
 
     // enabled - returns true if optical flow is enabled
-    bool enabled() const { return _type != (int8_t)OpticalFlowType::NONE; }
+    bool enabled() const { return _type != Type::NONE; }
 
     // healthy - return true if the sensor is healthy
     bool healthy() const { return backend != nullptr && _flags.healthy; }
@@ -118,7 +116,7 @@ public:
 
 private:
 
-    static OpticalFlow *_singleton;
+    static AP_OpticalFlow *_singleton;
 
     OpticalFlow_backend *backend;
 
@@ -127,7 +125,7 @@ private:
     } _flags;
 
     // parameters
-    AP_Int8  _type;                 // user configurable sensor type
+    AP_Enum<Type>  _type;           // user configurable sensor type
     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 _yawAngle_cd;          // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees
@@ -151,7 +149,7 @@ private:
 };
 
 namespace AP {
-    OpticalFlow *opticalflow();
+    AP_OpticalFlow *opticalflow();
 }
 
 #include "AP_OpticalFlow_Backend.h"

libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp

@@ -19,7 +19,7 @@
 
 extern const AP_HAL::HAL& hal;
 
-OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
+OpticalFlow_backend::OpticalFlow_backend(AP_OpticalFlow &_frontend) :
     frontend(_frontend)
 {
 }
@@ -29,7 +29,7 @@ OpticalFlow_backend::~OpticalFlow_backend(void)
 }
 
 // update the frontend
-void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state)
+void OpticalFlow_backend::_update_frontend(const struct AP_OpticalFlow::OpticalFlow_state &state)
 {
     frontend.update_state(state);
 }

libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.h

@@ -15,20 +15,22 @@
 #pragma once
 
 /*
-  OpticalFlow backend class for ArduPilot
+  AP_OpticalFlow backend class for ArduPilot
  */
 
 #include "AP_OpticalFlow.h"
 
 class OpticalFlow_backend
 {
-    friend class OpticalFlow;
+    friend class AP_OpticalFlow;
 
 public:
     // constructor
-    OpticalFlow_backend(OpticalFlow &_frontend);
+    OpticalFlow_backend(AP_OpticalFlow &_frontend);
     virtual ~OpticalFlow_backend(void);
-    
+
+    CLASS_NO_COPY(OpticalFlow_backend);
+
     // init - initialise sensor
     virtual void init() = 0;
 
@@ -45,10 +47,10 @@ public:
 
 protected:
     // access to frontend
-    OpticalFlow &frontend;
+    AP_OpticalFlow &frontend;
 
     // update the frontend
-    void _update_frontend(const struct OpticalFlow::OpticalFlow_state &state);
+    void _update_frontend(const struct AP_OpticalFlow::OpticalFlow_state &state);
 
     // get the flow scaling parameters
     Vector2f _flowScaler(void) const { return Vector2f(frontend._flowScalerX, frontend._flowScalerY); }

libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp

@@ -51,14 +51,14 @@
 extern const AP_HAL::HAL& hal;
 
 // constructor
-AP_OpticalFlow_CXOF::AP_OpticalFlow_CXOF(OpticalFlow &_frontend, AP_HAL::UARTDriver *_uart) :
+AP_OpticalFlow_CXOF::AP_OpticalFlow_CXOF(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *_uart) :
     OpticalFlow_backend(_frontend),
     uart(_uart)
 {
 }
 
 // detect the device
-AP_OpticalFlow_CXOF *AP_OpticalFlow_CXOF::detect(OpticalFlow &_frontend)
+AP_OpticalFlow_CXOF *AP_OpticalFlow_CXOF::detect(AP_OpticalFlow &_frontend)
 {
     AP_SerialManager *serial_manager = AP::serialmanager().get_singleton();
     if (serial_manager == nullptr) {
@@ -159,7 +159,7 @@ void AP_OpticalFlow_CXOF::update(void)
         return;
     }
 
-    struct OpticalFlow::OpticalFlow_state state {};
+    struct AP_OpticalFlow::OpticalFlow_state state {};
 
     // average surface quality scaled to be between 0 and 255
     state.surface_quality = (constrain_int16(qual_sum / count, 64, 78) - 64) * 255 / 14;

libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h

@@ -14,7 +14,7 @@ class AP_OpticalFlow_CXOF : public OpticalFlow_backend
 {
 public:
     /// constructor
-    AP_OpticalFlow_CXOF(OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
+    AP_OpticalFlow_CXOF(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
 
     // initialise the sensor
     void init() override;
@@ -23,7 +23,7 @@ public:
     void update(void) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_CXOF *detect(OpticalFlow &_frontend);
+    static AP_OpticalFlow_CXOF *detect(AP_OpticalFlow &_frontend);
 
 private:
 

libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp

@@ -20,7 +20,7 @@ AP_UAVCAN* AP_OpticalFlow_HereFlow::_ap_uavcan = nullptr;
 /*
   constructor - registers instance at top Flow driver
  */
-AP_OpticalFlow_HereFlow::AP_OpticalFlow_HereFlow(OpticalFlow &flow) :
+AP_OpticalFlow_HereFlow::AP_OpticalFlow_HereFlow(AP_OpticalFlow &flow) :
     OpticalFlow_backend(flow)
 {
     if (_driver) {
@@ -83,7 +83,7 @@ void AP_OpticalFlow_HereFlow::_push_state(void)
     if (!new_data) {
         return;
     }
-    struct OpticalFlow::OpticalFlow_state state;
+    struct AP_OpticalFlow::OpticalFlow_state state;
     const Vector2f flowScaler = _flowScaler();
     //setup scaling based on parameters
     float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;

libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h

@@ -14,7 +14,7 @@ class MeasurementCb;
 
 class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {
 public:
-    AP_OpticalFlow_HereFlow(OpticalFlow &flow);
+    AP_OpticalFlow_HereFlow(AP_OpticalFlow &flow);
 
     void init() override {}
 

libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp

@@ -23,7 +23,7 @@
 #define OPTFLOW_MAV_TIMEOUT_SEC 0.5f
 
 // detect the device
-AP_OpticalFlow_MAV *AP_OpticalFlow_MAV::detect(OpticalFlow &_frontend)
+AP_OpticalFlow_MAV *AP_OpticalFlow_MAV::detect(AP_OpticalFlow &_frontend)
 {
     // we assume mavlink messages will be sent into this driver
     AP_OpticalFlow_MAV *sensor = new AP_OpticalFlow_MAV(_frontend);
@@ -47,7 +47,7 @@ void AP_OpticalFlow_MAV::update(void)
         return;
     }
 
-    struct OpticalFlow::OpticalFlow_state state {};
+    struct AP_OpticalFlow::OpticalFlow_state state {};
 
     state.surface_quality = quality_sum / count;
 

libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h

@@ -26,7 +26,7 @@ public:
     void handle_msg(const mavlink_message_t &msg) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_MAV *detect(OpticalFlow &_frontend);
+    static AP_OpticalFlow_MAV *detect(AP_OpticalFlow &_frontend);
 
 private:
 

libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp

@@ -26,7 +26,7 @@ extern const AP_HAL::HAL& hal;
 using namespace MSP;
 
 // detect the device
-AP_OpticalFlow_MSP *AP_OpticalFlow_MSP::detect(OpticalFlow &_frontend)
+AP_OpticalFlow_MSP *AP_OpticalFlow_MSP::detect(AP_OpticalFlow &_frontend)
 {
     // we assume msp messages will be sent into this driver
     return new AP_OpticalFlow_MSP(_frontend);
@@ -49,7 +49,7 @@ void AP_OpticalFlow_MSP::update(void)
         return;
     }
 
-    struct OpticalFlow::OpticalFlow_state state {};
+    struct AP_OpticalFlow::OpticalFlow_state state {};
 
     state.surface_quality = quality_sum / count;
 

libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h

@@ -21,7 +21,7 @@ public:
     void handle_msp(const MSP::msp_opflow_data_message_t &pkt) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_MSP *detect(OpticalFlow &_frontend);
+    static AP_OpticalFlow_MSP *detect(AP_OpticalFlow &_frontend);
 
 private:
 

libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp

@@ -30,10 +30,6 @@
 #define OPTICALFLOW_ONBOARD_ID 1
 extern const AP_HAL::HAL& hal;
 
-AP_OpticalFlow_Onboard::AP_OpticalFlow_Onboard(OpticalFlow &_frontend) :
-    OpticalFlow_backend(_frontend)
-{}
-
 void AP_OpticalFlow_Onboard::init(void)
 {
     /* register callback to get gyro data */
@@ -54,7 +50,7 @@ void AP_OpticalFlow_Onboard::update()
         return;
     }
 
-    struct OpticalFlow::OpticalFlow_state state;
+    struct AP_OpticalFlow::OpticalFlow_state state;
     state.surface_quality = data_frame.quality;
     if (data_frame.delta_time > 0) {
         const Vector2f flowScaler = _flowScaler();

libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h

@@ -32,7 +32,9 @@
 class AP_OpticalFlow_Onboard : public OpticalFlow_backend
 {
 public:
-    AP_OpticalFlow_Onboard(OpticalFlow &_frontend);
+
+    using OpticalFlow_backend::OpticalFlow_backend;
+
     void init(void) override;
     void update(void) override;
 private:

libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp

@@ -34,15 +34,9 @@ extern const AP_HAL::HAL& hal;
 #define PX4FLOW_BASE_I2C_ADDR   0x42
 #define PX4FLOW_INIT_RETRIES    10      // attempt to initialise the sensor up to 10 times at startup
 
-// constructor
-AP_OpticalFlow_PX4Flow::AP_OpticalFlow_PX4Flow(OpticalFlow &_frontend) :
-    OpticalFlow_backend(_frontend)
-{
-}
-
 
 // detect the device
-AP_OpticalFlow_PX4Flow *AP_OpticalFlow_PX4Flow::detect(OpticalFlow &_frontend)
+AP_OpticalFlow_PX4Flow *AP_OpticalFlow_PX4Flow::detect(AP_OpticalFlow &_frontend)
 {
     AP_OpticalFlow_PX4Flow *sensor = new AP_OpticalFlow_PX4Flow(_frontend);
     if (!sensor) {
@@ -119,7 +113,7 @@ void AP_OpticalFlow_PX4Flow::timer(void)
     if (!dev->read_registers(REG_INTEGRAL_FRAME, (uint8_t *)&frame, sizeof(frame))) {
         return;
     }
-    struct OpticalFlow::OpticalFlow_state state {};
+    struct AP_OpticalFlow::OpticalFlow_state state {};
 
     if (frame.integration_timespan > 0) {
         const Vector2f flowScaler = _flowScaler();

libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h

@@ -14,7 +14,9 @@ class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
 {
 public:
     /// constructor
-    AP_OpticalFlow_PX4Flow(OpticalFlow &_frontend);
+    using OpticalFlow_backend::OpticalFlow_backend;
+
+    CLASS_NO_COPY(AP_OpticalFlow_PX4Flow);
 
     // init - initialise the sensor
     void init() override {}
@@ -23,7 +25,7 @@ public:
     void update(void) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_PX4Flow *detect(OpticalFlow &_frontend);
+    static AP_OpticalFlow_PX4Flow *detect(AP_OpticalFlow &_frontend);
 
 private:
     AP_HAL::OwnPtr<AP_HAL::Device> dev;

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp

@@ -83,14 +83,14 @@ extern const AP_HAL::HAL& hal;
 #define PIXART_SROM_CRC_RESULT 0xBEEF
 
 // constructor
-AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(const char *devname, OpticalFlow &_frontend) :
+AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(const char *devname, AP_OpticalFlow &_frontend) :
     OpticalFlow_backend(_frontend)
 {
     _dev = std::move(hal.spi->get_device(devname));
 }
 
 // detect the device
-AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(const char *devname, OpticalFlow &_frontend)
+AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(const char *devname, AP_OpticalFlow &_frontend)
 {
     AP_OpticalFlow_Pixart *sensor = new AP_OpticalFlow_Pixart(devname, _frontend);
     if (!sensor) {
@@ -329,7 +329,7 @@ void AP_OpticalFlow_Pixart::update(void)
     }
     last_update_ms = now;
 
-    struct OpticalFlow::OpticalFlow_state state;
+    struct AP_OpticalFlow::OpticalFlow_state state;
     state.surface_quality = burst.squal;
 
     if (integral.sum_us > 0) {

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h

@@ -14,7 +14,7 @@ class AP_OpticalFlow_Pixart : public OpticalFlow_backend
 {
 public:
     /// constructor
-    AP_OpticalFlow_Pixart(const char *devname, OpticalFlow &_frontend);
+    AP_OpticalFlow_Pixart(const char *devname, AP_OpticalFlow &_frontend);
 
     // init - initialise the sensor
     void init() override {}
@@ -23,7 +23,7 @@ public:
     void update(void) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_Pixart *detect(const char *devname, OpticalFlow &_frontend);
+    static AP_OpticalFlow_Pixart *detect(const char *devname, AP_OpticalFlow &_frontend);
 
 private:
     AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;

libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp

@@ -25,7 +25,7 @@
 
 extern const AP_HAL::HAL& hal;
 
-AP_OpticalFlow_SITL::AP_OpticalFlow_SITL(OpticalFlow &_frontend) :
+AP_OpticalFlow_SITL::AP_OpticalFlow_SITL(AP_OpticalFlow &_frontend) :
     OpticalFlow_backend(_frontend),
     _sitl(AP::sitl())
 {
@@ -52,7 +52,7 @@ void AP_OpticalFlow_SITL::update(void)
                   radians(_sitl->state.pitchRate), 
                   radians(_sitl->state.yawRate));
 
-    OpticalFlow::OpticalFlow_state state;
+    AP_OpticalFlow::OpticalFlow_state state;
 
     // NED velocity vector in m/s
     Vector3f velocity(_sitl->state.speedN,

libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.h

@@ -8,7 +8,7 @@ class AP_OpticalFlow_SITL : public OpticalFlow_backend
 {
 public:
     /// constructor
-    AP_OpticalFlow_SITL(OpticalFlow &_frontend);
+    AP_OpticalFlow_SITL(AP_OpticalFlow &_frontend);
 
     // init - initialise the sensor
     void init() override;
@@ -22,6 +22,6 @@ private:
 
     uint8_t next_optflow_index;
     uint8_t optflow_delay;
-    OpticalFlow::OpticalFlow_state optflow_data[20];
+    AP_OpticalFlow::OpticalFlow_state optflow_data[20];
 };
 #endif // CONFIG_HAL_BOARD

libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp

@@ -53,14 +53,14 @@
 extern const AP_HAL::HAL& hal;
 
 // constructor
-AP_OpticalFlow_UPFLOW::AP_OpticalFlow_UPFLOW(OpticalFlow &_frontend, AP_HAL::UARTDriver *_uart) :
+AP_OpticalFlow_UPFLOW::AP_OpticalFlow_UPFLOW(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *_uart) :
     OpticalFlow_backend(_frontend),
     uart(_uart)
 {
 }
 
 // detect the device
-AP_OpticalFlow_UPFLOW *AP_OpticalFlow_UPFLOW::detect(OpticalFlow &_frontend)
+AP_OpticalFlow_UPFLOW *AP_OpticalFlow_UPFLOW::detect(AP_OpticalFlow &_frontend)
 {
     AP_SerialManager *serial_manager = AP::serialmanager().get_singleton();
     if (serial_manager == nullptr) {
@@ -156,7 +156,7 @@ void AP_OpticalFlow_UPFLOW::update(void)
         return;
     }
 
-    struct OpticalFlow::OpticalFlow_state state {};
+    struct AP_OpticalFlow::OpticalFlow_state state {};
 
     state.surface_quality = updata.quality;
 

libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h

@@ -14,7 +14,7 @@ class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend
 {
 public:
     /// constructor
-    AP_OpticalFlow_UPFLOW(OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
+    AP_OpticalFlow_UPFLOW(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
 
     // initialise the sensor
     void init() override;
@@ -23,7 +23,7 @@ public:
     void update(void) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_UPFLOW *detect(OpticalFlow &_frontend);
+    static AP_OpticalFlow_UPFLOW *detect(AP_OpticalFlow &_frontend);
 
 private:
     struct PACKED UpixelsOpticalFlow {

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -32,7 +32,7 @@ public:
 
 static DummyVehicle vehicle;
 #if AP_OPTICALFLOW_ENABLED
-static OpticalFlow optflow;
+static AP_OpticalFlow optflow;
 #endif
 
 void setup()