mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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/*
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* AP_OpticalFlow_PX4.cpp - ardupilot library for PX4Flow sensor
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*
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_OpticalFlow_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_px4flow.h>
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#include <uORB/topics/optical_flow.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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void AP_OpticalFlow_PX4::init(void)
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{
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_fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
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// check for failure to open device
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if (_fd < 0) {
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hal.console->printf("Unable to open " PX4FLOW_DEVICE_PATH "\n");
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return;
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}
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// if we got this far, the sensor must be healthy
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_flags.healthy = true;
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}
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// update - read latest values from sensor and fill in x,y and totals.
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void AP_OpticalFlow_PX4::update(void)
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{
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// return immediately if not healthy
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if (!_flags.healthy) {
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return;
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}
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struct optical_flow_s report;
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while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && report.timestamp != _last_timestamp) {
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_device_id = report.sensor_id;
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_surface_quality = report.quality;
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_raw.x = report.flow_raw_x;
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_raw.y = report.flow_raw_y;
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_velocity.x = report.flow_comp_x_m;
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_velocity.y = report.flow_comp_y_m;
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_last_timestamp = report.timestamp;
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_last_update = hal.scheduler->millis();
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}
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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