mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
#pragma once
|
|
|
|
#include "AP_OpticalFlow.h"
|
|
|
|
#ifndef AP_OPTICALFLOW_MAV_ENABLED
|
|
#define AP_OPTICALFLOW_MAV_ENABLED AP_OPTICALFLOW_ENABLED
|
|
#endif
|
|
|
|
#if AP_OPTICALFLOW_MAV_ENABLED
|
|
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
class AP_OpticalFlow_MAV : public OpticalFlow_backend
|
|
{
|
|
public:
|
|
/// constructor
|
|
using OpticalFlow_backend::OpticalFlow_backend;
|
|
|
|
// initialise the sensor
|
|
void init() override {}
|
|
|
|
// read latest values from sensor and fill in x,y and totals.
|
|
void update(void) override;
|
|
|
|
// get update from mavlink
|
|
void handle_msg(const mavlink_message_t &msg) override;
|
|
|
|
// detect if the sensor is available
|
|
static AP_OpticalFlow_MAV *detect(OpticalFlow &_frontend);
|
|
|
|
private:
|
|
|
|
uint64_t prev_frame_us; // system time of last message when update was last called
|
|
uint64_t latest_frame_us; // system time of most recent messages processed
|
|
Vector2l flow_sum; // sum of sensor's flow_x and flow_y values since last call to update
|
|
uint16_t quality_sum; // sum of sensor's quality values since last call to update
|
|
uint16_t count; // number of sensor readings since last call to update
|
|
uint8_t sensor_id; // sensor_id received in latest mavlink message
|
|
Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor
|
|
uint16_t gyro_sum_count; // number of gyro sensor values in sum
|
|
};
|
|
|
|
#endif // AP_OPTICALFLOW_MAV_ENABLED
|