mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-09 01:18:29 -04:00
7adbccac9a
This commit adds support for OpticalFlow to MinnowBoardMax trying to leave the OpticalFlow implementation as generic as it already is. We had to add some format conversion and software crop to the cameras that do not have this features.
107 lines
3.5 KiB
C++
107 lines
3.5 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 "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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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE)
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//#define FLOWONBOARD_DEBUG 1
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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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AP_AHRS_NavEKF& ahrs) :
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OpticalFlow_backend(_frontend),
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_ahrs(ahrs)
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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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FUNCTOR_BIND_MEMBER(&AP_OpticalFlow_Onboard::_get_gyro,
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void, float&, float&, float&));
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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.device_id = OPTICALFLOW_ONBOARD_ID;
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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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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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state.bodyRate.x = 1.0f / float(data_frame.delta_time) *
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data_frame.gyro_x_integral;
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state.bodyRate.y = 1.0f / float(data_frame.delta_time) *
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data_frame.gyro_y_integral;
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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 FLOWONBOARD_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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void AP_OpticalFlow_Onboard::_get_gyro(float &rate_x, float &rate_y,
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float &rate_z)
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{
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Vector3f rates = _ahrs.get_gyro();
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rate_x = rates.x;
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rate_y = rates.y;
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rate_z = rates.z;
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}
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#endif
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