mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.2 KiB
C++
80 lines
2.2 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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#include <linux/videodev2.h>
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#include <AP_HAL/OpticalFlow.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_HAL_Linux.h"
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#include "CameraSensor.h"
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#include "Flow_PX4.h"
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#include "PWM_Sysfs.h"
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#include "VideoIn.h"
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#include "AP_HAL/utility/RingBuffer.h"
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namespace Linux {
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class GyroSample {
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public:
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Vector2f gyro;
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uint64_t time_us;
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};
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class OpticalFlow_Onboard : public AP_HAL::OpticalFlow {
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public:
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void init();
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bool read(AP_HAL::OpticalFlow::Data_Frame& frame);
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void push_gyro(float gyro_x, float gyro_y, float dt);
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void push_gyro_bias(float gyro_bias_x, float gyro_bias_y);
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private:
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void _run_optflow();
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static void *_read_thread(void *arg);
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void _get_integrated_gyros(uint64_t timestamp, GyroSample &gyro);
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VideoIn* _videoin;
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VideoIn::Frame _last_video_frame;
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PWM_Sysfs_Base* _pwm;
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CameraSensor* _camerasensor;
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Flow_PX4* _flow;
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pthread_t _thread;
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pthread_mutex_t _mutex;
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bool _initialized;
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bool _data_available;
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bool _crop_by_software;
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bool _shrink_by_software;
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uint32_t _camera_output_width;
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uint32_t _camera_output_height;
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uint32_t _width;
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uint32_t _height;
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uint32_t _format;
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uint32_t _bytesperline;
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uint32_t _sizeimage;
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float _pixel_flow_x_integral;
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float _pixel_flow_y_integral;
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float _gyro_x_integral;
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float _gyro_y_integral;
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uint64_t _integration_timespan;
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uint8_t _surface_quality;
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Vector2f _last_gyro_rate;
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Vector2f _gyro_bias;
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Vector2f _integrated_gyro;
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uint64_t _last_integration_time;
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ObjectBuffer<GyroSample> *_gyro_ring_buffer;
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};
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}
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