mirror of https://github.com/ArduPilot/ardupilot
95 lines
3.5 KiB
C++
95 lines
3.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_OpticalFlow_PX4.cpp - ardupilot library for PX4Flow sensor
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*
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*/
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#include <AP_HAL.h>
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#include "OpticalFlow.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_px4flow.h>
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#include <uORB/topics/optical_flow.h>
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extern const AP_HAL::HAL& hal;
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AP_OpticalFlow_PX4::AP_OpticalFlow_PX4(OpticalFlow &_frontend) :
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OpticalFlow_backend(_frontend)
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{}
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void AP_OpticalFlow_PX4::init(void)
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{
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_fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
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// check for failure to open device
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if (_fd == -1) {
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return;
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}
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// change to 10Hz update
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if (ioctl(_fd, SENSORIOCSPOLLRATE, 10) != 0) {
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hal.console->printf("Unable to set flow rate to 10Hz\n");
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}
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}
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// update - read latest values from sensor and fill in x,y and totals.
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void AP_OpticalFlow_PX4::update(void)
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{
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// return immediately if not initialised
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if (_fd == -1) {
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return;
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}
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struct optical_flow_s report;
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while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) &&
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report.timestamp != _last_timestamp) {
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struct OpticalFlow::OpticalFlow_state state;
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state.device_id = report.sensor_id;
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state.surface_quality = report.quality;
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if (report.integration_timespan > 0) {
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float yawAngleRad = _yawAngleRad();
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float cosYaw = cosf(yawAngleRad);
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float sinYaw = sinf(yawAngleRad);
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const Vector2f flowScaler = _flowScaler();
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float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;
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float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y;
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float integralToRate = 1e6f / float(report.integration_timespan);
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// rotate sensor measurements from sensor to body frame through sensor yaw angle
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state.flowRate.x = flowScaleFactorX * integralToRate * (cosYaw * float(report.pixel_flow_x_integral) - sinYaw * float(report.pixel_flow_y_integral)); // rad/sec measured optically about the X body axis
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state.flowRate.y = flowScaleFactorY * integralToRate * (sinYaw * float(report.pixel_flow_x_integral) + cosYaw * float(report.pixel_flow_y_integral)); // rad/sec measured optically about the Y body axis
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state.bodyRate.x = integralToRate * (cosYaw * float(report.gyro_x_rate_integral) - sinYaw * float(report.gyro_y_rate_integral)); // rad/sec measured inertially about the X body axis
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state.bodyRate.y = integralToRate * (sinYaw * float(report.gyro_x_rate_integral) + cosYaw * float(report.gyro_y_rate_integral)); // rad/sec measured inertially about the Y body axis
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} else {
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state.flowRate.zero();
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state.bodyRate.zero();
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}
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_last_timestamp = report.timestamp;
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_update_frontend(state);
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}
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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