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https://github.com/ArduPilot/ardupilot
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28 lines
592 B
C++
28 lines
592 B
C++
#pragma once
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#include "OpticalFlow.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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class AP_OpticalFlow_SITL : public OpticalFlow_backend
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{
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public:
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/// constructor
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AP_OpticalFlow_SITL(OpticalFlow &_frontend);
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// init - initialise the sensor
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void init();
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// update - read latest values from sensor and fill in x,y and totals.
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void update(void);
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private:
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SITL::SITL *_sitl;
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uint32_t last_flow_ms;
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uint8_t next_optflow_index;
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uint8_t optflow_delay;
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OpticalFlow::OpticalFlow_state optflow_data[20];
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};
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#endif // CONFIG_HAL_BOARD
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