mirror of https://github.com/ArduPilot/ardupilot
102 lines
4.1 KiB
C++
102 lines
4.1 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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*
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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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*
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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
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* stores values in x,y, surface_quality parameter
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* read_register() : reads a value from the sensor (will be
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* sensor specific)
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* write_register() : writes a value to one of the sensor's
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* register (will be sensor specific)
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*/
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#include <AP_Math.h>
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#define AP_OPTICALFLOW_NUM_CALLS_FOR_10HZ 100 // timer process runs at 1khz. 100 iterations = 10hz
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#define AP_OPTICALFLOW_NUM_CALLS_FOR_20HZ 50 // timer process runs at 1khz. 50 iterations = 20hz
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#define AP_OPTICALFLOW_NUM_CALLS_FOR_50HZ 20 // timer process runs at 1khz. 20 iterations = 50hz
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class AP_OpticalFlow
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{
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public:
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// constructor
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AP_OpticalFlow() {
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_sensor = this;
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};
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~AP_OpticalFlow() {
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_sensor = NULL;
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};
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virtual bool init();
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virtual uint8_t read_register(uint8_t address);
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virtual void write_register(uint8_t address, uint8_t value);
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// Rotation vector to transform sensor readings to the body frame.
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virtual void set_orientation(enum Rotation rotation);
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// sets field of view of sensor
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virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); };
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// called by timer process to read sensor data from all attached sensors
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static void read(uint32_t now);
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// read latest values from sensor and fill in x,y and totals.
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virtual void update(uint32_t now);
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// updates internal lon and lat with estimation based on optical flow
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virtual void update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude);
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// public variables
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int16_t raw_dx; // raw sensor change in x and y position (i.e. unrotated)
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int16_t raw_dy; // raw sensor change in x and y position (i.e. unrotated)
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uint8_t surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
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int16_t x,y; // total x,y position
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int16_t dx,dy; // rotated change in x and y position
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float vlon, vlat; // position as offsets from original position
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uint32_t 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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int16_t num_pixels; // number of pixels of resolution in the sensor
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// public variables for reporting purposes
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float exp_change_x, exp_change_y; // expected change in x, y coordinates
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float change_x, change_y; // actual change in x, y coordinates
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float x_cm, y_cm; // x,y position in cm
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protected:
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// pointer to the last instantiated optical flow sensor. Will be turned
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// into a table if we ever add support for more than one sensor
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static AP_OpticalFlow * _sensor;
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enum Rotation _orientation;
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// multiply this number by altitude and pixel change to get horizontal
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// move (in same units as altitude)
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float conv_factor;
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float radians_to_pixels;
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float _last_roll;
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float _last_pitch;
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float _last_altitude;
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// rotate raw values to arrive at final x,y,dx and dy values
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virtual void apply_orientation_matrix();
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virtual void update_conversion_factors();
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private:
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// number of times we have been called by 1khz timer process.
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// We use this to throttle read down to 20hz
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static uint8_t _num_calls;
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};
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#include "AP_OpticalFlow_ADNS3080.h"
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#endif
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