mirror of https://github.com/ArduPilot/ardupilot
35 lines
1.1 KiB
C++
35 lines
1.1 KiB
C++
#pragma once
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#include "AP_OpticalFlow_config.h"
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#if AP_OPTICALFLOW_CXOF_ENABLED
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#include "AP_OpticalFlow_Backend.h"
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class AP_OpticalFlow_CXOF : public OpticalFlow_backend
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{
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public:
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/// constructor
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AP_OpticalFlow_CXOF(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
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// initialise the sensor
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void init() override;
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// read latest values from sensor and fill in x,y and totals.
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void update(void) override;
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// detect if the sensor is available
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static AP_OpticalFlow_CXOF *detect(AP_OpticalFlow &_frontend);
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private:
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AP_HAL::UARTDriver *uart; // uart connected to flow sensor
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uint64_t last_frame_us; // system time of last message from flow sensor
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uint8_t buf[10]; // buff of characters received from flow sensor
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uint8_t buf_len; // number of characters in buffer
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Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor
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uint16_t gyro_sum_count; // number of gyro sensor values in sum
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};
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#endif // AP_OPTICALFLOW_CXOF_ENABLED
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