ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h

35 lines
1.1 KiB
C++

/*
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_NavEKF/AP_NavEKF.h>
#include "OpticalFlow.h"
class AP_OpticalFlow_Onboard : public OpticalFlow_backend
{
public:
AP_OpticalFlow_Onboard(OpticalFlow &_frontend, AP_AHRS_NavEKF &ahrs);
void init(void);
void update(void);
private:
AP_AHRS &_ahrs;
void _get_gyro(float&, float&, float&);
uint32_t _last_read_ms;
};