mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.2 KiB
C++
43 lines
1.2 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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_OpticalFlow/AP_OpticalFlow.h>
|
|
|
|
#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
|
|
#define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED
|
|
#endif
|
|
|
|
#if AP_OPTICALFLOW_ONBOARD_ENABLED
|
|
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_NavEKF2/AP_NavEKF2.h>
|
|
#include <AP_NavEKF3/AP_NavEKF3.h>
|
|
|
|
#include "AP_OpticalFlow.h"
|
|
|
|
class AP_OpticalFlow_Onboard : public OpticalFlow_backend
|
|
{
|
|
public:
|
|
AP_OpticalFlow_Onboard(OpticalFlow &_frontend);
|
|
void init(void) override;
|
|
void update(void) override;
|
|
private:
|
|
uint32_t _last_read_ms;
|
|
};
|
|
|
|
#endif // AP_OPTICALFLOW_ONBOARD_ENABLED
|