mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "OpticalFlow.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
|
|
frontend(_frontend)
|
|
{
|
|
_sem = hal.util->new_semaphore();
|
|
}
|
|
|
|
OpticalFlow_backend::~OpticalFlow_backend(void)
|
|
{
|
|
if (_sem) {
|
|
delete _sem;
|
|
}
|
|
}
|
|
|
|
// update the frontend
|
|
void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state)
|
|
{
|
|
frontend._state = state;
|
|
frontend._last_update_ms = AP_HAL::millis();
|
|
}
|
|
|
|
// apply yaw angle to a vector
|
|
void OpticalFlow_backend::_applyYaw(Vector2f &v)
|
|
{
|
|
float yawAngleRad = _yawAngleRad();
|
|
if (is_zero(yawAngleRad)) {
|
|
return;
|
|
}
|
|
float cosYaw = cosf(yawAngleRad);
|
|
float sinYaw = sinf(yawAngleRad);
|
|
float x = v.x;
|
|
float y = v.y;
|
|
v.x = cosYaw * x - sinYaw * y;
|
|
v.y = sinYaw * x + cosYaw * y;
|
|
}
|