mirror of https://github.com/ArduPilot/ardupilot
37 lines
848 B
C++
37 lines
848 B
C++
#pragma once
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#include "AP_OpticalFlow_config.h"
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#if AP_OPTICALFLOW_HEREFLOW_ENABLED
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#include "AP_OpticalFlow_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {
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public:
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AP_OpticalFlow_HereFlow(AP_OpticalFlow &flow);
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void init() override {}
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void update() override;
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg);
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private:
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Vector2f flowRate, bodyRate;
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uint8_t surface_quality;
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float integral_time;
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bool new_data;
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static uint8_t _node_id;
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static AP_OpticalFlow_HereFlow* _driver;
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static AP_DroneCAN* _ap_dronecan;
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void _push_state(void);
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};
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#endif // AP_OPTICALFLOW_HEREFLOW_ENABLED
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