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Plane : Enable optical flow by default if sensor is fitted

This commit is contained in:
priseborough 2014-10-26 19:28:31 +11:00 committed by Andrew Tridgell
parent 9ba46ad795
commit f047e35167
2 changed files with 1 additions and 16 deletions
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15
ArduPlane/ArduPlane.pde
View File

@ -316,11 +316,9 @@ static AP_Camera camera(&relay);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Optical flow sensor // Optical flow sensor
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#if OPTFLOW == ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static AP_OpticalFlow_PX4 optflow(ahrs); static AP_OpticalFlow_PX4 optflow(ahrs);
#endif #endif
#endif
//Rally Ponints //Rally Ponints
AP_Rally rally(ahrs); AP_Rally rally(ahrs);
@ -810,9 +808,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ barometer_accumulate, 1, 900 }, { barometer_accumulate, 1, 900 },
{ update_notify, 1, 300 }, { update_notify, 1, 300 },
{ read_rangefinder, 1, 500 }, { read_rangefinder, 1, 500 },
#if OPTFLOW == ENABLED { update_optical_flow, 1, 500 },
{ update_optical_flow, 1, 500 },
#endif
{ one_second_loop, 50, 1000 }, { one_second_loop, 50, 1000 },
{ check_long_failsafe, 15, 1000 }, { check_long_failsafe, 15, 1000 },
{ read_receiver_rssi, 5, 1000 }, { read_receiver_rssi, 5, 1000 },
@ -1564,19 +1560,12 @@ static void update_flight_stage(void)
} }
// called at 100hz but data from sensor only arrives at 10 Hz // called at 100hz but data from sensor only arrives at 10 Hz
#if OPTFLOW == ENABLED
static void update_optical_flow(void) static void update_optical_flow(void)
{ {
static uint32_t last_of_update = 0; static uint32_t last_of_update = 0;
// exit immediately if not enabled
if (!optflow.enabled()) {
return;
}
// read from sensor // read from sensor
optflow.update(); optflow.update();
// write to log and send to EKF if new data has arrived // write to log and send to EKF if new data has arrived
if (optflow.last_update() != last_of_update) { if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update(); last_of_update = optflow.last_update();
@ -1591,7 +1580,5 @@ static void update_optical_flow(void)
ahrs.writeOptFlowMeas(flowQuality, rawFlowRates, rawGyroRates, last_of_update, rangefinder_state.in_range_count, ground_distance_m); ahrs.writeOptFlowMeas(flowQuality, rawFlowRates, rawGyroRates, last_of_update, rangefinder_state.in_range_count, ground_distance_m);
} }
} }
#endif // OPTFLOW == ENABLED
AP_HAL_MAIN(); AP_HAL_MAIN();

2
ArduPlane/system.pde
View File

@ -219,10 +219,8 @@ static void init_ardupilot()
// --------------------------- // ---------------------------
reset_control_switch(); reset_control_switch();
#if OPTFLOW == ENABLED
// initialise sensor // initialise sensor
optflow.init(); optflow.init();
#endif
} }
//******************************************************************************** //********************************************************************************