mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.5 KiB
C++
60 lines
1.5 KiB
C++
#pragma once
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#include "AP_OpticalFlow.h"
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#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
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#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_ENABLED
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#endif
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#if AP_OPTICALFLOW_PX4FLOW_ENABLED
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#include <AP_HAL/utility/OwnPtr.h>
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class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
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{
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public:
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/// constructor
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using OpticalFlow_backend::OpticalFlow_backend;
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CLASS_NO_COPY(AP_OpticalFlow_PX4Flow);
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// init - initialise the sensor
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void init() override {}
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// update - read latest values from sensor and fill in x,y and totals.
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void update(void) override;
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// detect if the sensor is available
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static AP_OpticalFlow_PX4Flow *detect(AP_OpticalFlow &_frontend);
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private:
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AP_HAL::OwnPtr<AP_HAL::Device> dev;
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static const uint8_t REG_INTEGRAL_FRAME = 0x16;
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// I2C data on register REG_INTEGRAL_FRAME
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struct PACKED i2c_integral_frame {
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uint16_t frame_count_since_last_readout;
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int16_t pixel_flow_x_integral;
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int16_t pixel_flow_y_integral;
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int16_t gyro_x_rate_integral;
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int16_t gyro_y_rate_integral;
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int16_t gyro_z_rate_integral;
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uint32_t integration_timespan;
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uint32_t sonar_timestamp;
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uint16_t ground_distance;
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int16_t gyro_temperature;
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uint8_t qual;
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};
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// scan I2C bus addresses and buses
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bool scan_buses(void);
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// setup sensor
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bool setup_sensor(void);
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void timer(void);
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};
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#endif // AP_OPTICALFLOW_PX4FLOW_ENABLED
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