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OptFlow: fix example sketch so it compiles

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This commit is contained in:
Randy Mackay 2014-10-16 13:52:07 +09:00
parent 4e06970a1c
commit eed6a1ce61
1 changed files with 29 additions and 5 deletions
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34
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
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@ -10,12 +10,37 @@
#include <AP_Math.h> #include <AP_Math.h>
#include <AP_HAL.h> #include <AP_HAL.h>
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_AHRS.h>
#include <AP_Compass.h>
#include <AP_Declination.h>
#include <AP_Airspeed.h>
#include <GCS_MAVLink.h>
#include <AP_Vehicle.h>
#include <AP_Notify.h>
#include <DataFlash.h>
#include <AP_GPS.h>
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
#include <AP_ADC_AnalogSource.h>
#include <Filter.h>
#include <AP_Baro.h>
#include <AP_OpticalFlow.h> #include <AP_OpticalFlow.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_OpticalFlow_ADNS3080 optflow; AP_InertialSensor_HIL ins;
AP_Baro_HIL baro;
// GPS declaration
static AP_GPS gps;
GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(ins, baro, gps);
AP_OpticalFlow_ADNS3080 optflow(ahrs);
void setup() void setup()
{ {
@ -100,10 +125,9 @@ void display_motion()
hal.scheduler->delay(1000); hal.scheduler->delay(1000);
while (!hal.console->available()) { while (!hal.console->available()) {
optflow.update_position(0,0,0,1,100); const Vector2i &raw_vel = optflow.raw();
// x,y,squal // x,y,squal
hal.console->printf_P(PSTR("x_cm/dx:%d/%d\ty_cm/dy:%d/%d\tsqual:%d\n"),(int)optflow.x_cm,(int)optflow.dx,(int)optflow.y_cm,(int)optflow.dy,(int)optflow.surface_quality); hal.console->printf_P(PSTR("raw x:%d\ty:%d\tsqual:%d\n"),(int)raw_vel.x,(int)raw_vel.y,(int)optflow.quality());
first_time = false; first_time = false;
// short delay // short delay