mirror of https://github.com/ArduPilot/ardupilot
112 lines
4.2 KiB
C++
112 lines
4.2 KiB
C++
#include "OpticalFlow.h"
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#include "AP_OpticalFlow_Onboard.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo OpticalFlow::var_info[] = {
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// @Param: _ENABLE
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// @DisplayName: Optical flow enable/disable
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// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
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// @Values: 0:Disabled, 1:Enabled
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// @User: Standard
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AP_GROUPINFO("_ENABLE", 0, OpticalFlow, _enabled, 0),
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// @Param: _FXSCALER
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// @DisplayName: X axis optical flow scale factor correction
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// @Description: This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.
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// @Range: -200 +200
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_FXSCALER", 1, OpticalFlow, _flowScalerX, 0),
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// @Param: _FYSCALER
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// @DisplayName: Y axis optical flow scale factor correction
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// @Description: This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.
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// @Range: -200 +200
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_FYSCALER", 2, OpticalFlow, _flowScalerY, 0),
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// @Param: _ORIENT_YAW
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// @DisplayName: Flow sensor yaw alignment
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// @Description: Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
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// @Range: -18000 +18000
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("_ORIENT_YAW", 3, OpticalFlow, _yawAngle_cd, 0),
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// @Param: _POS_X
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// @DisplayName: X position offset
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// @Description: X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
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// @Units: m
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// @User: Advanced
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// @Param: _POS_Y
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// @DisplayName: Y position offset
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// @Description: Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
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// @Units: m
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// @User: Advanced
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// @Param: _POS_Z
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// @DisplayName: Z position offset
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// @Description: Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
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// @Units: m
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// @User: Advanced
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AP_GROUPINFO("_POS", 4, OpticalFlow, _pos_offset, 0.0f),
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AP_GROUPEND
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};
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// default constructor
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OpticalFlow::OpticalFlow(AP_AHRS_NavEKF &ahrs)
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: _last_update_ms(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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memset(&_state, 0, sizeof(_state));
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// healthy flag will be overwritten on update
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_flags.healthy = false;
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#if 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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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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backend = new AP_OpticalFlow_Onboard(*this, ahrs);
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#endif
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}
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void OpticalFlow::init(void)
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{
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if (!backend) {
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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backend = new AP_OpticalFlow_PX4(*this);
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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backend = new AP_OpticalFlow_HIL(*this);
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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backend = new AP_OpticalFlow_Linux(*this, hal.i2c_mgr->get_device(HAL_OPTFLOW_PX4FLOW_I2C_BUS, HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS));
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#endif
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}
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if (backend != nullptr) {
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backend->init();
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} else {
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_enabled = 0;
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}
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}
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void OpticalFlow::update(void)
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{
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if (backend != nullptr) {
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backend->update();
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}
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// only healthy if the data is less than 0.5s old
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_flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
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}
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void OpticalFlow::setHIL(const struct OpticalFlow::OpticalFlow_state &state)
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{
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if (backend) {
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backend->_update_frontend(state);
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}
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}
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