mirror of https://github.com/ArduPilot/ardupilot
125 lines
4.9 KiB
C++
125 lines
4.9 KiB
C++
#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "OpticalFlow.h"
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#include "AP_OpticalFlow_Onboard.h"
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#include "AP_OpticalFlow_SITL.h"
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#include "AP_OpticalFlow_Pixart.h"
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#include "AP_OpticalFlow_PX4Flow.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo OpticalFlow::var_info[] = {
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// @Param: _ENABLE
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// @DisplayName: Optical flow enable/disable
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// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
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// @Values: 0:Disabled, 1:Enabled
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// @User: Standard
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AP_GROUPINFO("_ENABLE", 0, OpticalFlow, _enabled, 0),
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// @Param: _FXSCALER
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// @DisplayName: X axis optical flow scale factor correction
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// @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.
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// @Range: -200 +200
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_FXSCALER", 1, OpticalFlow, _flowScalerX, 0),
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// @Param: _FYSCALER
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// @DisplayName: Y axis optical flow scale factor correction
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// @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.
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// @Range: -200 +200
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_FYSCALER", 2, OpticalFlow, _flowScalerY, 0),
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// @Param: _ORIENT_YAW
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// @DisplayName: Flow sensor yaw alignment
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// @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.
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// @Range: -18000 +18000
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_ORIENT_YAW", 3, OpticalFlow, _yawAngle_cd, 0),
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// @Param: _POS_X
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// @DisplayName: X position offset
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// @Description: X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
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// @Units: m
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// @User: Advanced
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// @Param: _POS_Y
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// @DisplayName: Y position offset
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// @Description: Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
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// @Units: m
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// @User: Advanced
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// @Param: _POS_Z
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// @DisplayName: Z position offset
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// @Description: Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
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// @Units: m
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// @User: Advanced
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AP_GROUPINFO("_POS", 4, OpticalFlow, _pos_offset, 0.0f),
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// @Param: _ADDR
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// @DisplayName: Address on the bus
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// @Description: This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
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// @Range: 0 127
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// @User: Advanced
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AP_GROUPINFO("_ADDR", 5, OpticalFlow, _address, 0),
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AP_GROUPEND
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};
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// default constructor
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OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs)
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: _ahrs(ahrs),
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_last_update_ms(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void OpticalFlow::init(void)
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{
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// return immediately if not enabled
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if (!_enabled) {
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return;
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}
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if (!backend) {
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#if AP_FEATURE_BOARD_DETECT
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if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK ||
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AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2 ||
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AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PCNC1) {
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// possibly have pixhart on external SPI
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backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
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}
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if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_SP01) {
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backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
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}
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if (backend == nullptr) {
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backend = AP_OpticalFlow_PX4Flow::detect(*this);
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}
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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backend = new AP_OpticalFlow_SITL(*this);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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backend = new AP_OpticalFlow_Onboard(*this);
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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backend = AP_OpticalFlow_PX4Flow::detect(*this);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
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backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
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#endif
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}
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if (backend != nullptr) {
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backend->init();
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}
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}
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void OpticalFlow::update(void)
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{
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if (backend != nullptr) {
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backend->update();
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}
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// only healthy if the data is less than 0.5s old
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_flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
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}
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