mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.5 KiB
C++
73 lines
2.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* ADC.cpp - Analog Digital Converter Base Class for Ardupilot Mega
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* Code by James Goppert. DIYDrones.com
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*
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*/
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#include "AP_OpticalFlow.h"
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#define FORTYFIVE_DEGREES 0.78539816f
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// set_orientation - Rotation vector to transform sensor readings to the body
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// frame.
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void AP_OpticalFlow::set_orientation(enum Rotation rotation)
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{
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_orientation = rotation;
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}
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void AP_OpticalFlow::update()
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{
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}
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void AP_OpticalFlow::init()
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{
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}
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// updates internal lon and lat with estimation based on optical flow
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void AP_OpticalFlow::update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude)
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{
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float diff_roll = roll - _last_roll;
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float diff_pitch = pitch - _last_pitch;
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float change_x, change_y; // actual change in x, y coordinates
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// only update position if surface quality is good and angle is not
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// over 45 degrees
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if( surface_quality >= 10 && fabsf(roll) <= FORTYFIVE_DEGREES
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&& fabsf(pitch) <= FORTYFIVE_DEGREES ) {
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altitude = max(altitude, 0);
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// change in position is actual change measured by sensor (i.e. dx, dy) minus expected change due to change in roll, pitch
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change_x = dx - (diff_roll * radians_to_pixels);
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change_y = dy - (-diff_pitch * radians_to_pixels);
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float avg_altitude = (altitude + _last_altitude)*0.5f;
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// convert raw change to horizontal movement in cm
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// perhaps this altitude should actually be the distance to the
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// ground? i.e. if we are very rolled over it should be longer?
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x_cm = -change_x * avg_altitude * conv_factor;
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// for example if you are leaned over at 45 deg the ground will
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// appear farther away and motion from opt flow sensor will be less
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y_cm = -change_y * avg_altitude * conv_factor;
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}
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_last_altitude = altitude;
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_last_roll = roll;
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_last_pitch = pitch;
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}
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