/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #pragma once #include <AP_AHRS/AP_AHRS.h> #include <AP_Math/AP_Math.h> #include <AP_NavEKF2/AP_NavEKF2.h> #include <AP_NavEKF3/AP_NavEKF3.h> #include "OpticalFlow.h" class AP_OpticalFlow_Onboard : public OpticalFlow_backend { public: AP_OpticalFlow_Onboard(OpticalFlow &_frontend); void init(void); void update(void); private: uint32_t _last_read_ms; };