mirror of https://github.com/ArduPilot/ardupilot
Sub: create and use AP_OPTICALFLOW_ENABLED
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@ -48,7 +48,7 @@ SCHED_TASK_CLASS arguments:
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const AP_Scheduler::Task Sub::scheduler_tasks[] = {
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const AP_Scheduler::Task Sub::scheduler_tasks[] = {
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SCHED_TASK(fifty_hz_loop, 50, 75, 3),
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SCHED_TASK(fifty_hz_loop, 50, 75, 3),
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SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200, 6),
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SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200, 6),
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#if OPTFLOW == ENABLED
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#if AP_OPTICALFLOW_ENABLED
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SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160, 9),
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SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160, 9),
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#endif
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#endif
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SCHED_TASK(update_batt_compass, 10, 120, 12),
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SCHED_TASK(update_batt_compass, 10, 120, 12),
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@ -56,7 +56,7 @@ void GCS_Sub::update_vehicle_sensor_status_flags()
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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}
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#if OPTFLOW == ENABLED
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#if AP_OPTICALFLOW_ENABLED
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const OpticalFlow *optflow = AP::opticalflow();
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const OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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@ -599,7 +599,7 @@ const AP_Param::Info Sub::var_info[] = {
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GOBJECT(terrain, "TERRAIN_", AP_Terrain),
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GOBJECT(terrain, "TERRAIN_", AP_Terrain),
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#endif
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#endif
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#if OPTFLOW == ENABLED
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#if AP_OPTICALFLOW_ENABLED
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// @Group: FLOW
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// @Group: FLOW
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// @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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// @Path: ../libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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GOBJECT(optflow, "FLOW", OpticalFlow),
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GOBJECT(optflow, "FLOW", OpticalFlow),
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@ -77,11 +77,9 @@
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#include "AP_Arming_Sub.h"
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#include "AP_Arming_Sub.h"
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#include "GCS_Sub.h"
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#include "GCS_Sub.h"
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// libraries which are dependent on #defines in defines.h and/or config.h
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#if OPTFLOW == ENABLED
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#endif
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// libraries which are dependent on #defines in defines.h and/or config.h
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#if RCMAP_ENABLED == ENABLED
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#if RCMAP_ENABLED == ENABLED
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#endif
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#endif
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@ -167,7 +165,7 @@ private:
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)};
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FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)};
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// Optical flow sensor
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// Optical flow sensor
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#if OPTFLOW == ENABLED
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#if AP_OPTICALFLOW_ENABLED
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OpticalFlow optflow;
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OpticalFlow optflow;
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#endif
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#endif
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@ -99,12 +99,6 @@
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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# define EKF_ORIGIN_MAX_DIST_M 50000 // EKF origin and waypoints (including home) must be within 50km
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#endif
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// OPTICAL_FLOW
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#ifndef OPTFLOW
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# define OPTFLOW DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////
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// gripper
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// gripper
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#ifndef GRIPPER_ENABLED
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#ifndef GRIPPER_ENABLED
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@ -85,7 +85,7 @@ void Sub::init_ardupilot()
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AP::compass().set_log_bit(MASK_LOG_COMPASS);
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AP::compass().set_log_bit(MASK_LOG_COMPASS);
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AP::compass().init();
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AP::compass().init();
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#if OPTFLOW == ENABLED
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#if AP_OPTICALFLOW_ENABLED
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// initialise optical flow sensor
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// initialise optical flow sensor
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optflow.init(MASK_LOG_OPTFLOW);
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optflow.init(MASK_LOG_OPTFLOW);
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#endif
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#endif
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@ -231,7 +231,7 @@ bool Sub::optflow_position_ok()
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// return immediately if neither optflow nor visual odometry is enabled
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// return immediately if neither optflow nor visual odometry is enabled
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bool enabled = false;
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bool enabled = false;
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#if OPTFLOW == ENABLED
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#if AP_OPTICALFLOW_ENABLED
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if (optflow.enabled()) {
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if (optflow.enabled()) {
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enabled = true;
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enabled = true;
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}
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}
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