mirror of https://github.com/ArduPilot/ardupilot
72 lines
3.7 KiB
C++
72 lines
3.7 KiB
C++
#ifndef AP_OPTICALFLOW_H
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#define AP_OPTICALFLOW_H
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/*
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AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
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Code by Randy Mackay. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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Methods:
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init() : initializate sensor and library.
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read : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
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read_register() : reads a value from the sensor (will be sensor specific)
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write_register() : writes a value to one of the sensor's register (will be sensor specific)
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*/
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#include "WProgram.h"
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#include <AP_Math.h>
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// return value definition
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#define OPTICALFLOW_FAIL 0
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#define OPTICALFLOW_SUCCESS 1
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// standard rotation matrices
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#define AP_OPTICALFLOW_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
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#define AP_OPTICALFLOW_ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
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class AP_OpticalFlow
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{
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public:
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int raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated)
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int surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
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int x,y; // total x,y position
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int dx,dy; // rotated change in x and y position
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unsigned long lng, lat; // position
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unsigned long last_update; // millis() time of last update
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float field_of_view; // field of view in Radians
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float scaler; // number returned from sensor when moved one pixel
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int num_pixels; // number of pixels of resolution in the sensor
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public:
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AP_OpticalFlow(); // Constructor
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virtual bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
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virtual byte read_register(byte address);
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virtual void write_register(byte address, byte value);
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virtual void set_orientation(const Matrix3f &rotation_matrix); // Rotation vector to transform sensor readings to the body frame.
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virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); }; // sets field of view of sensor
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virtual int read(); // read latest values from sensor and fill in x,y and totals
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virtual void get_position(float roll, float pitch, float yaw, float altitude); // updates internal lon and lat with estimation based on optical flow
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protected:
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Matrix3f _orientation_matrix;
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float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
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float radians_to_pixels;
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float _last_roll, _last_pitch, _last_yaw, _last_altitude;
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virtual void apply_orientation_matrix(); // rotate raw values to arrive at final x,y,dx and dy values
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virtual void update_conversion_factors();
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};
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#include "AP_OpticalFlow_ADNS3080.h"
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#endif
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