mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.1 KiB
C++
34 lines
1.1 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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#pragma once
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class AP_HAL::OpticalFlow {
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public:
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class Data_Frame {
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public:
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float pixel_flow_x_integral;
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float pixel_flow_y_integral;
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float gyro_x_integral;
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float gyro_y_integral;
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uint32_t delta_time;
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uint8_t quality;
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};
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FUNCTOR_TYPEDEF(Gyro_Cb, void, float&, float&, float&);
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virtual void init(Gyro_Cb) = 0;
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virtual bool read(Data_Frame& frame) = 0;
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};
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