mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.4 KiB
C++
93 lines
3.4 KiB
C++
#include "OpticalFlow.h"
|
|
#include "AP_OpticalFlow_Onboard.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
const AP_Param::GroupInfo OpticalFlow::var_info[] = {
|
|
// @Param: _ENABLE
|
|
// @DisplayName: Optical flow enable/disable
|
|
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
|
|
// @Values: 0:Disabled, 1:Enabled
|
|
// @User: Standard
|
|
AP_GROUPINFO("_ENABLE", 0, OpticalFlow, _enabled, 0),
|
|
|
|
// @Param: _FXSCALER
|
|
// @DisplayName: X axis optical flow scale factor correction
|
|
// @Description: This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.
|
|
// @Range: -200 +200
|
|
// @Increment: 1
|
|
// @User: Standard
|
|
AP_GROUPINFO("_FXSCALER", 1, OpticalFlow, _flowScalerX, 0),
|
|
|
|
// @Param: _FYSCALER
|
|
// @DisplayName: Y axis optical flow scale factor correction
|
|
// @Description: This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.
|
|
// @Range: -200 +200
|
|
// @Increment: 1
|
|
// @User: Standard
|
|
AP_GROUPINFO("_FYSCALER", 2, OpticalFlow, _flowScalerY, 0),
|
|
|
|
// @Param: _ORIENT_YAW
|
|
// @DisplayName: Flow sensor yaw alignment
|
|
// @Description: Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
|
|
// @Range: -18000 +18000
|
|
// @Increment: 1
|
|
// @User: Standard
|
|
AP_GROUPINFO("_ORIENT_YAW", 3, OpticalFlow, _yawAngle_cd, 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
// default constructor
|
|
OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs)
|
|
: _last_update_ms(0)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
|
|
memset(&_state, 0, sizeof(_state));
|
|
|
|
// healthy flag will be overwritten on update
|
|
_flags.healthy = false;
|
|
|
|
#if 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
|
|
backend = new AP_OpticalFlow_Onboard(*this, ahrs);
|
|
#endif
|
|
}
|
|
|
|
void OpticalFlow::init(void)
|
|
{
|
|
if (!backend) {
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
backend = new AP_OpticalFlow_PX4(*this);
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
backend = new AP_OpticalFlow_HIL(*this);
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
backend = new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS));
|
|
#endif
|
|
}
|
|
|
|
if (backend != NULL) {
|
|
backend->init();
|
|
} else {
|
|
_enabled = 0;
|
|
}
|
|
}
|
|
|
|
void OpticalFlow::update(void)
|
|
{
|
|
if (backend != NULL) {
|
|
backend->update();
|
|
}
|
|
// only healthy if the data is less than 0.5s old
|
|
_flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
|
|
}
|
|
|
|
void OpticalFlow::setHIL(const struct OpticalFlow::OpticalFlow_state &state)
|
|
{
|
|
if (backend) {
|
|
backend->_update_frontend(state);
|
|
}
|
|
}
|