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https://github.com/ArduPilot/ardupilot
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c5cca02bc8
Onboard Optical flow needs to have access to the ahrs to get correct gyro values. Therefore the constructor takes the ahrs as a param like it is done for other classes that need to have access to these datas
36 lines
1.1 KiB
C++
36 lines
1.1 KiB
C++
/*
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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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#ifndef __AP_OPTICALFLOW_ONBOARD_H__
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#define __AP_OPTICALFLOW_ONBOARD_H__
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_Math/AP_Math.h>
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class AP_OpticalFlow_Onboard : public OpticalFlow_backend
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{
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public:
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AP_OpticalFlow_Onboard(OpticalFlow &_frontend, AP_AHRS_NavEKF &ahrs);
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void init(void);
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void update(void);
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private:
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AP_AHRS &_ahrs;
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void _get_gyro(float&, float&, float&);
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uint32_t _last_read_ms;
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};
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#endif
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