ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.h

68 lines
2.0 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/>.
*/
#pragma once
/*
OpticalFlow backend class for ArduPilot
*/
#include "AP_OpticalFlow.h"
class OpticalFlow_backend
{
friend class OpticalFlow;
public:
// constructor
OpticalFlow_backend(OpticalFlow &_frontend);
virtual ~OpticalFlow_backend(void);
// init - initialise sensor
virtual void init() = 0;
// read latest values from sensor and fill in x,y and totals.
virtual void update() = 0;
// handle optical flow mavlink messages
virtual void handle_msg(const mavlink_message_t &msg) {}
#if HAL_MSP_OPTICALFLOW_ENABLED
// handle optical flow msp messages
virtual void handle_msp(const MSP::msp_opflow_data_message_t &pkt) {}
#endif
protected:
// access to frontend
OpticalFlow &frontend;
// update the frontend
void _update_frontend(const struct OpticalFlow::OpticalFlow_state &state);
// get the flow scaling parameters
Vector2f _flowScaler(void) const { return Vector2f(frontend._flowScalerX, frontend._flowScalerY); }
// get the yaw angle in radians
float _yawAngleRad(void) const { return radians(float(frontend._yawAngle_cd) * 0.01f); }
// apply yaw angle to a vector
void _applyYaw(Vector2f &v);
// get ADDR parameter value
uint8_t get_address(void) const { return frontend._address; }
// semaphore for access to shared frontend data
HAL_Semaphore _sem;
};