Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_OpticalFlow: create and use AP_OPTICALFLOW_ENABLED

This commit is contained in:
Peter Barker 2021-12-24 19:17:50 +11:00 committed by Andrew Tridgell
parent 285d752143
commit f361d9b0d0
2 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
View File

@ -116,13 +116,17 @@ void OpticalFlow::init(uint32_t log_bit)
case OpticalFlowType::NONE: case OpticalFlowType::NONE:
break; break;
case OpticalFlowType::PX4FLOW: case OpticalFlowType::PX4FLOW:
#if AP_OPTICALFLOW_PX4FLOW_ENABLED
backend = AP_OpticalFlow_PX4Flow::detect(*this); backend = AP_OpticalFlow_PX4Flow::detect(*this);
#endif
break; break;
case OpticalFlowType::PIXART: case OpticalFlowType::PIXART:
#if AP_OPTICALFLOW_PIXART_ENABLED
backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this); backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
if (backend == nullptr) { if (backend == nullptr) {
backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this); backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
} }
#endif
break; break;
case OpticalFlowType::BEBOP: case OpticalFlowType::BEBOP:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
@ -130,13 +134,17 @@ void OpticalFlow::init(uint32_t log_bit)
#endif #endif
break; break;
case OpticalFlowType::CXOF: case OpticalFlowType::CXOF:
#if AP_OPTICALFLOW_CXOF_ENABLED
backend = AP_OpticalFlow_CXOF::detect(*this); backend = AP_OpticalFlow_CXOF::detect(*this);
#endif
break; break;
case OpticalFlowType::MAVLINK: case OpticalFlowType::MAVLINK:
#if AP_OPTICALFLOW_MAV_ENABLED
backend = AP_OpticalFlow_MAV::detect(*this); backend = AP_OpticalFlow_MAV::detect(*this);
#endif
break; break;
case OpticalFlowType::UAVCAN: case OpticalFlowType::UAVCAN:
#if HAL_ENABLE_LIBUAVCAN_DRIVERS #if AP_OPTICALFLOW_HEREFLOW_ENABLED
backend = new AP_OpticalFlow_HereFlow(*this); backend = new AP_OpticalFlow_HereFlow(*this);
#endif #endif
break; break;
@ -146,7 +154,9 @@ void OpticalFlow::init(uint32_t log_bit)
#endif #endif
break; break;
case OpticalFlowType::UPFLOW: case OpticalFlowType::UPFLOW:
#if AP_OPTICALFLOW_UPFLOW_ENABLED
backend = AP_OpticalFlow_UPFLOW::detect(*this); backend = AP_OpticalFlow_UPFLOW::detect(*this);
#endif
break; break;
case OpticalFlowType::SITL: case OpticalFlowType::SITL:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

2
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
View File

@ -14,7 +14,7 @@
*/ */
#pragma once #pragma once
#include <AP_HAL/AP_HAL_Boards.h> #include <AP_OpticalFlow/AP_OpticalFlow.h>
#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED #ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
#define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED #define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED