mirror of https://github.com/ArduPilot/ardupilot
101 lines
3.2 KiB
C++
101 lines
3.2 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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#include "AP_OpticalFlow_Onboard.h"
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#include <AP_HAL/AP_HAL.h>
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#include "AP_OpticalFlow.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#ifndef OPTICALFLOW_ONBOARD_DEBUG
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#define OPTICALFLOW_ONBOARD_DEBUG 0
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#endif
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#define OPTICALFLOW_ONBOARD_ID 1
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extern const AP_HAL::HAL& hal;
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AP_OpticalFlow_Onboard::AP_OpticalFlow_Onboard(OpticalFlow &_frontend) :
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OpticalFlow_backend(_frontend)
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{}
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void AP_OpticalFlow_Onboard::init(void)
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{
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/* register callback to get gyro data */
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hal.opticalflow->init();
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}
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void AP_OpticalFlow_Onboard::update()
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{
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AP_HAL::OpticalFlow::Data_Frame data_frame;
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// read at maximum 10Hz
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uint32_t now = AP_HAL::millis();
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if (now - _last_read_ms < 100) {
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return;
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}
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_last_read_ms = now;
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if (!hal.opticalflow->read(data_frame)) {
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return;
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}
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struct OpticalFlow::OpticalFlow_state state;
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state.surface_quality = data_frame.quality;
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if (data_frame.delta_time > 0) {
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const Vector2f flowScaler = _flowScaler();
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float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;
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float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y;
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// delta_time is in microseconds and flow is in milliradians
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// per second, so multiply by 1000
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state.flowRate.x = flowScaleFactorX * 1000.0f /
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float(data_frame.delta_time) *
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data_frame.pixel_flow_x_integral;
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state.flowRate.y = flowScaleFactorY * 1000.0f /
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float(data_frame.delta_time) *
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data_frame.pixel_flow_y_integral;
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// delta_time is in microseconds so multiply to get back to seconds
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state.bodyRate.x = 1000000.0f / float(data_frame.delta_time) *
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data_frame.gyro_x_integral;
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state.bodyRate.y = 1000000.0f / float(data_frame.delta_time) *
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data_frame.gyro_y_integral;
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_applyYaw(state.flowRate);
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} else {
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state.flowRate.zero();
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state.bodyRate.zero();
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}
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// copy results to front end
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_update_frontend(state);
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#if OPTICALFLOW_ONBOARD_DEBUG
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hal.console->printf("FLOW_ONBOARD qual:%u FlowRateX:%4.2f Y:%4.2f"
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"BodyRateX:%4.2f Y:%4.2f, delta_time = %u\n",
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(unsigned)state.surface_quality,
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(double)state.flowRate.x,
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(double)state.flowRate.y,
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(double)state.bodyRate.x,
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(double)state.bodyRate.y,
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data_frame.delta_time);
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#endif
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}
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#endif
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