mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.4 KiB
C++
53 lines
1.4 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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#include "AP_OpticalFlow.h"
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#if AP_OPTICALFLOW_ENABLED
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extern const AP_HAL::HAL& hal;
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OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
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frontend(_frontend)
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{
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}
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OpticalFlow_backend::~OpticalFlow_backend(void)
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{
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}
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// update the frontend
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void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state)
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{
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frontend.update_state(state);
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}
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// apply yaw angle to a vector
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void OpticalFlow_backend::_applyYaw(Vector2f &v)
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{
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float yawAngleRad = _yawAngleRad();
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if (is_zero(yawAngleRad)) {
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return;
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}
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float cosYaw = cosf(yawAngleRad);
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float sinYaw = sinf(yawAngleRad);
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float x = v.x;
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float y = v.y;
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v.x = cosYaw * x - sinYaw * y;
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v.y = sinYaw * x + cosYaw * y;
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}
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#endif
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