mirror of https://github.com/ArduPilot/ardupilot
92 lines
3.0 KiB
C++
92 lines
3.0 KiB
C++
#ifndef __OpticalFlow_H__
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#define __OpticalFlow_H__
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* OpticalFlow.h - OpticalFlow Base Class for Ardupilot
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* Code by Randy Mackay. DIYDrones.com
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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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#include <AP_AHRS.h>
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class OpticalFlow
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{
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public:
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// constructor
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OpticalFlow(const AP_AHRS &ahrs);
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// init - initialise sensor
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virtual void init() {}
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// enabled - returns true if optical flow is enabled
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bool enabled() const { return _enabled; }
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// healthy - return true if the sensor is healthy
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bool healthy() const { return _flags.healthy; }
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// read latest values from sensor and fill in x,y and totals.
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virtual void update() {}
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// quality - returns the surface quality as a measure from 0 ~ 255
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uint8_t quality() const { return _surface_quality; }
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// raw - returns the raw movement from the sensor
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const Vector2i& raw() const { return _raw; }
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// velocity - returns the velocity in m/s
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const Vector2f& velocity() const { return _velocity; }
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// device_id - returns device id
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uint8_t device_id() const { return _device_id; }
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// last_update() - returns system time of last sensor update
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uint32_t last_update() const { return _last_update; }
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// parameter var info table
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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struct AP_OpticalFlow_Flags {
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uint8_t healthy : 1; // true if sensor is healthy
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} _flags;
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// external references
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const AP_AHRS &_ahrs; // ahrs object
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// parameters
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AP_Int8 _enabled; // enabled/disabled flag
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// internal variables
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uint8_t _device_id; // device id
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uint8_t _surface_quality; // image quality (below 15 you can't trust the dx,dy values returned)
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Vector2i _raw; // raw x,y values from sensor
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Vector2f _velocity; // x, y velocity in m/s
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uint32_t _last_update; // millis() time of last update
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};
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#endif
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