mirror of https://github.com/ArduPilot/ardupilot
90 lines
3.3 KiB
C++
90 lines
3.3 KiB
C++
#ifndef __AP_OPTICALFLOW_H__
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#define __AP_OPTICALFLOW_H__
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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.cpp - OpticalFlow Base Class for Ardupilot Mega
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* Code by Randy Mackay. DIYDrones.com
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*
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* Methods:
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* init() : initializate sensor and library.
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* read : reads latest value from OpticalFlow and
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* stores values in x,y, surface_quality parameter
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* read_register() : reads a value from the sensor (will be
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* sensor specific)
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* write_register() : writes a value to one of the sensor's
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* register (will be sensor specific)
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*/
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#include <AP_Math.h>
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class AP_OpticalFlow
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{
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public:
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// constructor
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AP_OpticalFlow() {
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_flags.healthy = false;
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};
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virtual void init();
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// healthy - return true if the sensor is healthy
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bool healthy() const { return _flags.healthy; }
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// Rotation vector to transform sensor readings to the body frame.
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void set_orientation(enum Rotation rotation);
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// sets field of view of sensor
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void set_field_of_view(const float fov) { field_of_view = fov; };
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// read latest values from sensor and fill in x,y and totals.
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virtual void update();
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// updates internal lon and lat with estimation based on optical flow
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void update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude);
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// public variables
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int16_t raw_dx; // raw sensor change in x and y position (i.e. unrotated)
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int16_t raw_dy; // raw sensor change in x and y position (i.e. unrotated)
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uint8_t surface_quality; // image quality (below 15 you can't trust the dx,dy values returned)
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int16_t dx,dy; // rotated change in x and y position
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uint32_t last_update; // millis() time of last update
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float field_of_view; // field of view in Radians
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float scaler; // number returned from sensor when moved one pixel
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// public variables for reporting purposes
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float exp_change_x, exp_change_y; // expected change in x, y coordinates
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float change_x, change_y; // actual change in x, y coordinates
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float x_cm, y_cm; // x,y position in cm
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protected:
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struct AP_OpticalFlow_Flags {
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uint8_t healthy : 1; // true if sensor is healthy
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} _flags;
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enum Rotation _orientation;
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float conv_factor; // multiply this number by altitude and pixel change to get horizontal move (in same units as altitude)
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float radians_to_pixels;
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float _last_roll;
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float _last_pitch;
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float _last_altitude;
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};
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#include "AP_OpticalFlow_ADNS3080.h"
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#endif
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