mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/*
|
|
* AP_OpticalFlow_PX4.cpp - ardupilot library for PX4Flow sensor
|
|
*
|
|
*/
|
|
|
|
#include <AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
|
|
#include "AP_OpticalFlow_PX4.h"
|
|
|
|
#include <sys/types.h>
|
|
#include <sys/stat.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
|
|
#include <drivers/drv_px4flow.h>
|
|
#include <uORB/topics/optical_flow.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
// Public Methods //////////////////////////////////////////////////////////////
|
|
|
|
void AP_OpticalFlow_PX4::init(void)
|
|
{
|
|
_fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
|
|
|
|
// check for failure to open device
|
|
if (_fd < 0) {
|
|
hal.console->printf("Unable to open " PX4FLOW_DEVICE_PATH "\n");
|
|
return;
|
|
}
|
|
|
|
// change to 10Hz update
|
|
if (ioctl(_fd, SENSORIOCSPOLLRATE, 10) != 0) {
|
|
hal.console->printf("Unable to set flow rate to 10Hz\n");
|
|
}
|
|
|
|
// if we got this far, the sensor must be healthy
|
|
_flags.healthy = true;
|
|
}
|
|
|
|
// update - read latest values from sensor and fill in x,y and totals.
|
|
void AP_OpticalFlow_PX4::update(void)
|
|
{
|
|
// return immediately if not healthy
|
|
if (!_flags.healthy) {
|
|
return;
|
|
}
|
|
|
|
struct optical_flow_s report;
|
|
while (::read(_fd, &report, sizeof(optical_flow_s)) == sizeof(optical_flow_s) && report.timestamp != _last_timestamp) {
|
|
_device_id = report.sensor_id;
|
|
_surface_quality = report.quality;
|
|
if (report.integration_timespan > 0) {
|
|
float flowScaleFactorX = 1.0f + 0.001f * float(_flowScalerX);
|
|
float flowScaleFactorY = 1.0f + 0.001f * float(_flowScalerY);
|
|
float integralToRate = 1e6f / float(report.integration_timespan);
|
|
_flowRate.x = flowScaleFactorX * integralToRate * float(report.pixel_flow_x_integral); // rad/sec measured optically about the X sensor axis
|
|
_flowRate.y = flowScaleFactorY * integralToRate * float(report.pixel_flow_y_integral); // rad/sec measured optically about the Y sensor axis
|
|
_bodyRate.x = integralToRate * float(report.gyro_x_rate_integral); // rad/sec measured inertially about the X sensor axis
|
|
_bodyRate.y = integralToRate * float(report.gyro_y_rate_integral); // rad/sec measured inertially about the Y sensor axis
|
|
} else {
|
|
_flowRate.x = 0.0f;
|
|
_flowRate.y = 0.0f;
|
|
_bodyRate.x = 0.0f;
|
|
_bodyRate.y = 0.0f;
|
|
}
|
|
_last_timestamp = report.timestamp;
|
|
_last_update = hal.scheduler->millis();
|
|
}
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
|