mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.0 KiB
C++
68 lines
2.0 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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#pragma once
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/*
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OpticalFlow backend class for ArduPilot
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*/
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#include "AP_OpticalFlow.h"
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class OpticalFlow_backend
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{
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friend class OpticalFlow;
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public:
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// constructor
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OpticalFlow_backend(OpticalFlow &_frontend);
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virtual ~OpticalFlow_backend(void);
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// init - initialise sensor
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virtual void init() = 0;
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// read latest values from sensor and fill in x,y and totals.
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virtual void update() = 0;
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// handle optical flow mavlink messages
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virtual void handle_msg(const mavlink_message_t &msg) {}
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#if HAL_MSP_OPTICALFLOW_ENABLED
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// handle optical flow msp messages
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virtual void handle_msp(const MSP::msp_opflow_data_message_t &pkt) {}
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#endif
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protected:
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// access to frontend
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OpticalFlow &frontend;
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// update the frontend
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void _update_frontend(const struct OpticalFlow::OpticalFlow_state &state);
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// get the flow scaling parameters
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Vector2f _flowScaler(void) const { return Vector2f(frontend._flowScalerX, frontend._flowScalerY); }
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// get the yaw angle in radians
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float _yawAngleRad(void) const { return radians(float(frontend._yawAngle_cd) * 0.01f); }
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// apply yaw angle to a vector
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void _applyYaw(Vector2f &v);
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// get ADDR parameter value
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uint8_t get_address(void) const { return frontend._address; }
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// semaphore for access to shared frontend data
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HAL_Semaphore _sem;
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};
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