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OptFlow: add ground_distance_m

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This commit is contained in:
Randy Mackay 2014-07-18 22:25:22 +09:00
parent b2e167f9a5
commit ec4581b35a
2 changed files with 5 additions and 0 deletions
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1
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -18,6 +18,7 @@ OpticalFlow::OpticalFlow(const AP_AHRS &ahrs) :
_ahrs(ahrs),
_device_id(0),
_surface_quality(0),
_ground_distance_m(0.0f),
_last_update(0)
{
AP_Param::setup_object_defaults(this, var_info);

4
libraries/AP_OpticalFlow/OpticalFlow.h
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@ -62,6 +62,9 @@ public:
// device_id - returns device id
uint8_t device_id() const { return _device_id; }
// return ground distance in meters (if available)
float ground_distance_m() const { return _ground_distance_m; }
// last_update() - returns system time of last sensor update
uint32_t last_update() const { return _last_update; }
@ -85,6 +88,7 @@ protected:
uint8_t _surface_quality; // image quality (below 15 you can't trust the dx,dy values returned)
Vector2i _raw; // raw x,y values from sensor
Vector2f _velocity; // x, y velocity in m/s
float _ground_distance_m; // ground distance in m
uint32_t _last_update; // millis() time of last update
};