mirror of https://github.com/ArduPilot/ardupilot
111 lines
4.4 KiB
C++
111 lines
4.4 KiB
C++
#ifndef __AP_OPTICALFLOW_H__
|
|
#define __AP_OPTICALFLOW_H__
|
|
/*
|
|
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/>.
|
|
*/
|
|
|
|
/*
|
|
* AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
|
|
* Code by Randy Mackay. DIYDrones.com
|
|
*
|
|
* Methods:
|
|
* init() : initializate sensor and library.
|
|
* read : reads latest value from OpticalFlow and
|
|
* stores values in x,y, surface_quality parameter
|
|
* read_register() : reads a value from the sensor (will be
|
|
* sensor specific)
|
|
* write_register() : writes a value to one of the sensor's
|
|
* register (will be sensor specific)
|
|
*/
|
|
|
|
#include <AP_Math.h>
|
|
|
|
#define AP_OPTICALFLOW_NUM_CALLS_FOR_10HZ 100 // timer process runs at 1khz. 100 iterations = 10hz
|
|
#define AP_OPTICALFLOW_NUM_CALLS_FOR_20HZ 50 // timer process runs at 1khz. 50 iterations = 20hz
|
|
#define AP_OPTICALFLOW_NUM_CALLS_FOR_50HZ 20 // timer process runs at 1khz. 20 iterations = 50hz
|
|
|
|
class AP_OpticalFlow
|
|
{
|
|
public:
|
|
// constructor
|
|
AP_OpticalFlow() {
|
|
_sensor = this;
|
|
};
|
|
~AP_OpticalFlow() {
|
|
_sensor = NULL;
|
|
};
|
|
|
|
virtual bool init();
|
|
|
|
virtual uint8_t read_register(uint8_t address);
|
|
virtual void write_register(uint8_t address, uint8_t value);
|
|
|
|
// Rotation vector to transform sensor readings to the body frame.
|
|
virtual void set_orientation(enum Rotation rotation);
|
|
|
|
// sets field of view of sensor
|
|
virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); };
|
|
|
|
// called by timer process to read sensor data from all attached sensors
|
|
void read();
|
|
|
|
// read latest values from sensor and fill in x,y and totals.
|
|
virtual void update();
|
|
|
|
// updates internal lon and lat with estimation based on optical flow
|
|
virtual void update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude);
|
|
|
|
// public variables
|
|
int16_t raw_dx; // raw sensor change in x and y position (i.e. unrotated)
|
|
int16_t raw_dy; // raw sensor change in x and y position (i.e. unrotated)
|
|
uint8_t surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
|
|
int16_t x,y; // total x,y position
|
|
int16_t dx,dy; // rotated change in x and y position
|
|
float vlon, vlat; // position as offsets from original position
|
|
uint32_t last_update; // millis() time of last update
|
|
float field_of_view; // field of view in Radians
|
|
float scaler; // number returned from sensor when moved one pixel
|
|
int16_t num_pixels; // number of pixels of resolution in the sensor
|
|
|
|
// public variables for reporting purposes
|
|
float exp_change_x, exp_change_y; // expected change in x, y coordinates
|
|
float change_x, change_y; // actual change in x, y coordinates
|
|
float x_cm, y_cm; // x,y position in cm
|
|
|
|
protected:
|
|
// pointer to the last instantiated optical flow sensor. Will be turned
|
|
// into a table if we ever add support for more than one sensor
|
|
AP_OpticalFlow * _sensor;
|
|
enum Rotation _orientation;
|
|
// multiply this number by altitude and pixel change to get horizontal
|
|
// move (in same units as altitude)
|
|
float conv_factor;
|
|
float radians_to_pixels;
|
|
float _last_roll;
|
|
float _last_pitch;
|
|
float _last_altitude;
|
|
// rotate raw values to arrive at final x,y,dx and dy values
|
|
virtual void apply_orientation_matrix();
|
|
virtual void update_conversion_factors();
|
|
|
|
private:
|
|
// number of times we have been called by 1khz timer process.
|
|
// We use this to throttle read down to 20hz
|
|
uint8_t _num_calls;
|
|
};
|
|
|
|
#include "AP_OpticalFlow_ADNS3080.h"
|
|
|
|
#endif
|