mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.6 KiB
C++
46 lines
1.6 KiB
C++
#pragma once
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#include "AP_OpticalFlow.h"
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#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
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#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_ENABLED
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#endif
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#if AP_OPTICALFLOW_UPFLOW_ENABLED
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#include <AP_HAL/utility/OwnPtr.h>
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class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend
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{
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public:
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/// constructor
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AP_OpticalFlow_UPFLOW(OpticalFlow &_frontend, AP_HAL::UARTDriver *uart);
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// initialise the sensor
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void init() override;
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// read latest values from sensor and fill in x,y and totals.
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void update(void) override;
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// detect if the sensor is available
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static AP_OpticalFlow_UPFLOW *detect(OpticalFlow &_frontend);
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private:
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struct PACKED UpixelsOpticalFlow {
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int16_t flow_x_integral; //unit:10^-4 radians multiply by 10^-4 to get radians
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int16_t flow_y_integral; //unit:10^-4 radians multiply by 10^-4 to get radians
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uint16_t integration_timespan; //dt in us
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uint16_t ground_distance; //reserved, always 999
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uint8_t quality; //0 for not valid, 245 for valid.
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uint8_t version;
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};
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AP_HAL::UARTDriver *uart; // uart connected to flow sensor
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struct UpixelsOpticalFlow updata; // struct for received data
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uint16_t recv_count; // amount of bytes received
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uint8_t sum; //checksum
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Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor
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uint16_t gyro_sum_count; // number of gyro sensor values in sum
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};
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#endif // AP_OPTICALFLOW_UPFLOW_ENABLED
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