mirror of https://github.com/ArduPilot/ardupilot
66 lines
3.2 KiB
C++
66 lines
3.2 KiB
C++
#ifndef AP_OPTICALFLOW_H
|
|
#define AP_OPTICALFLOW_H
|
|
|
|
/*
|
|
AP_OpticalFlow.cpp - OpticalFlow Base Class for Ardupilot Mega
|
|
Code by Randy Mackay. DIYDrones.com
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU Lesser General Public
|
|
License as published by the Free Software Foundation; either
|
|
version 2.1 of the License, or (at your option) any later version.
|
|
|
|
Methods:
|
|
init() : initializate sensor and library.
|
|
read : reads latest value from OpticalFlow and stores values in x,y, surface_quality parameter
|
|
read_register() : reads a value from the sensor (will be sensor specific)
|
|
write_register() : writes a value to one of the sensor's register (will be sensor specific)
|
|
*/
|
|
|
|
#include <FastSerial.h>
|
|
#include <AP_Math.h>
|
|
#include <AP_Common.h>
|
|
|
|
class AP_OpticalFlow
|
|
{
|
|
public:
|
|
int raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated)
|
|
int surface_quality; // image quality (below 15 you really can't trust the x,y values returned)
|
|
int x,y; // total x,y position
|
|
int dx,dy; // rotated change in x and y position
|
|
float vlon, vlat; // position as offsets from original position
|
|
unsigned long last_update; // millis() time of last update
|
|
float field_of_view; // field of view in Radians
|
|
float scaler; // number returned from sensor when moved one pixel
|
|
int num_pixels; // number of pixels of resolution in the sensor
|
|
// temp variables - delete me!
|
|
float exp_change_x, exp_change_y;
|
|
float change_x, change_y;
|
|
float x_cm, y_cm;
|
|
|
|
AP_OpticalFlow() { _sensor = this; };
|
|
~AP_OpticalFlow() { _sensor = NULL; };
|
|
virtual bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
|
|
virtual byte read_register(byte address);
|
|
virtual void write_register(byte address, byte value);
|
|
virtual void set_orientation(enum Rotation rotation); // Rotation vector to transform sensor readings to the body frame.
|
|
virtual void set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); }; // sets field of view of sensor
|
|
static void read(uint32_t ) { if( _sensor != NULL ) _sensor->update(); }; // call to update all attached sensors
|
|
virtual bool update(); // read latest values from sensor and fill in x,y and totals. returns true on success
|
|
virtual void update_position(float roll, float pitch, float cos_yaw_x, float sin_yaw_y, float altitude); // updates internal lon and lat with estimation based on optical flow
|
|
|
|
protected:
|
|
static AP_OpticalFlow *_sensor; // pointer to the last instantiated optical flow sensor. Will be turned into a table if we ever add support for more than one sensor
|
|
enum Rotation _orientation;
|
|
float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
|
|
float radians_to_pixels;
|
|
float _last_roll, _last_pitch, _last_altitude;
|
|
virtual void apply_orientation_matrix(); // rotate raw values to arrive at final x,y,dx and dy values
|
|
virtual void update_conversion_factors();
|
|
};
|
|
|
|
#include "AP_OpticalFlow_ADNS3080.h"
|
|
#include "AP_OpticalFlow_ADNS3080_APM2.h"
|
|
|
|
#endif
|