mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.3 KiB
C++
38 lines
1.3 KiB
C++
#pragma once
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#include "OpticalFlow.h"
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#include <AP_HAL/utility/OwnPtr.h>
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#if HAL_MSP_OPTICALFLOW_ENABLED
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class AP_OpticalFlow_MSP : public OpticalFlow_backend
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{
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public:
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/// constructor
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using OpticalFlow_backend::OpticalFlow_backend;
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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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// get update from msp
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void handle_msp(const MSP::msp_opflow_data_message_t &pkt) override;
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// detect if the sensor is available
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static AP_OpticalFlow_MSP *detect(OpticalFlow &_frontend);
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private:
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uint64_t prev_frame_us; // system time of last message when update was last called
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uint64_t latest_frame_us; // system time of most recent messages processed
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Vector2l flow_sum; // sum of sensor's flow_x and flow_y values since last call to update
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uint16_t quality_sum; // sum of sensor's quality values since last call to update
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uint16_t count; // number of sensor readings since last call to update
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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 // HAL_MSP_OPTICALFLOW_ENABLED
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