ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp

112 lines
3.6 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/>.
*/
#include "AP_OpticalFlow_Onboard.h"
#include <AP_HAL/AP_HAL.h>
#include "OpticalFlow.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\
(CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI)
#ifndef OPTICALFLOW_ONBOARD_DEBUG
#define OPTICALFLOW_ONBOARD_DEBUG 0
#endif
#define OPTICALFLOW_ONBOARD_ID 1
extern const AP_HAL::HAL& hal;
AP_OpticalFlow_Onboard::AP_OpticalFlow_Onboard(OpticalFlow &_frontend) :
OpticalFlow_backend(_frontend)
{}
void AP_OpticalFlow_Onboard::init(void)
{
/* register callback to get gyro data */
hal.opticalflow->init(
FUNCTOR_BIND_MEMBER(&AP_OpticalFlow_Onboard::_get_gyro,
void, float&, float&, float&));
}
void AP_OpticalFlow_Onboard::update()
{
AP_HAL::OpticalFlow::Data_Frame data_frame;
// read at maximum 10Hz
uint32_t now = AP_HAL::millis();
if (now - _last_read_ms < 100) {
return;
}
_last_read_ms = now;
if (!hal.opticalflow->read(data_frame)) {
return;
}
struct OpticalFlow::OpticalFlow_state state;
state.device_id = OPTICALFLOW_ONBOARD_ID;
state.surface_quality = data_frame.quality;
if (data_frame.delta_time > 0) {
const Vector2f flowScaler = _flowScaler();
float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;
float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y;
state.flowRate.x = flowScaleFactorX * 1000.0f /
float(data_frame.delta_time) *
data_frame.pixel_flow_x_integral;
state.flowRate.y = flowScaleFactorY * 1000.0f /
float(data_frame.delta_time) *
data_frame.pixel_flow_y_integral;
state.bodyRate.x = 1.0f / float(data_frame.delta_time) *
data_frame.gyro_x_integral;
state.bodyRate.y = 1.0f / float(data_frame.delta_time) *
data_frame.gyro_y_integral;
_applyYaw(state.flowRate);
} else {
state.flowRate.zero();
state.bodyRate.zero();
}
// copy results to front end
_update_frontend(state);
#if OPTICALFLOW_ONBOARD_DEBUG
hal.console->printf("FLOW_ONBOARD qual:%u FlowRateX:%4.2f Y:%4.2f"
"BodyRateX:%4.2f Y:%4.2f, delta_time = %u\n",
(unsigned)state.surface_quality,
(double)state.flowRate.x,
(double)state.flowRate.y,
(double)state.bodyRate.x,
(double)state.bodyRate.y,
data_frame.delta_time);
#endif
}
void AP_OpticalFlow_Onboard::_get_gyro(float &rate_x, float &rate_y,
float &rate_z)
{
Vector3f rates = get_ahrs().get_gyro();
rate_x = rates.x;
rate_y = rates.y;
rate_z = rates.z;
}
#endif