mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.9 KiB
C++
44 lines
1.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_Progmem.h>
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#include "OpticalFlow.h"
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const AP_Param::GroupInfo OpticalFlow::var_info[] PROGMEM = {
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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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AP_GROUPEND
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};
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// default constructor
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OpticalFlow::OpticalFlow(const AP_AHRS &ahrs) :
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_ahrs(ahrs),
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_device_id(0),
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_surface_quality(0),
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_last_update(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// healthy flag will be overwritten when init is called
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_flags.healthy = false;
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};
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