OptFlow: minor commenting and format changes

libraries/AP_OpticalFlow/AP_OpticalFlow.h

@@ -22,64 +22,57 @@
 
 #include <AP_Math.h>
 
-// timer process runs at 1khz.  100 iterations = 10hz
+#define AP_OPTICALFLOW_NUM_CALLS_FOR_10HZ     100       // timer process runs at 1khz.  100 iterations = 10hz
-#define AP_OPTICALFLOW_NUM_CALLS_FOR_10HZ     100
+#define AP_OPTICALFLOW_NUM_CALLS_FOR_20HZ     50        // timer process runs at 1khz.  50 iterations = 20hz
-// timer process runs at 1khz.  50 iterations = 20hz
+#define AP_OPTICALFLOW_NUM_CALLS_FOR_50HZ     20        // timer process runs at 1khz.  20 iterations = 50hz
-#define AP_OPTICALFLOW_NUM_CALLS_FOR_20HZ     50
-// timer process runs at 1khz.  20 iterations = 50hz
-#define AP_OPTICALFLOW_NUM_CALLS_FOR_50HZ     20
 
 class AP_OpticalFlow
 {
 public:
-    // raw sensor change in x and y position (i.e. unrotated)
+    // constructor
-    int      raw_dx, raw_dy;
-    // image quality (below 15 you really can't trust the x,y values returned)
-    uint8_t      surface_quality;
-    // total x,y position
-    int      x,y;
-    // rotated change in x and y position
-    int      dx,dy;
-    // position as offsets from original position
-    float    vlon, vlat;
-    // millis() time of last update
-    uint32_t last_update;
-    // field of view in Radians
-    float    field_of_view;
-    // number returned from sensor when moved one pixel
-    float    scaler;
-    // number of pixels of resolution in the sensor
-    int      num_pixels;
-    // temp - delete me!
-    float    exp_change_x, exp_change_y;
-    float    change_x, change_y;
-    float    x_cm, y_cm;
-
     AP_OpticalFlow() {
         _sensor = this;
     };
     ~AP_OpticalFlow() {
         _sensor = NULL;
     };
+
     virtual bool init(); 
-    // parameter controls whether I2C/SPI interface is initialised
+
-    // (set to false if other devices are on the I2C/SPI bus and have already
-    // initialised the interface)
     virtual uint8_t read_register(uint8_t address);
     virtual void    write_register(uint8_t address, uint8_t value);
+
     // Rotation vector to transform sensor readings to the body frame.
     virtual void    set_orientation(enum Rotation rotation);
+
     // sets field of view of sensor
-    virtual void    set_field_of_view(const float fov) { 
+    virtual void    set_field_of_view(const float fov) { field_of_view = fov; update_conversion_factors(); };
-        field_of_view = fov; update_conversion_factors();
+
-    };
     // called by timer process to read sensor data from all attached sensors
     static void     read(uint32_t now);
+
     // read latest values from sensor and fill in x,y and totals.
     virtual void    update(uint32_t now);
+
     // updates internal lon and lat with estimation based on optical flow
-    virtual void    update_position(float roll,
+    virtual void    update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude);
-            float pitch, float sin_yaw, float cos_yaw, float altitude);
+
+    // public variables
+    int16_t  raw_dx;            // raw sensor change in x and y position (i.e. unrotated)
+    int16_t  raw_dy;            // raw sensor change in x and y position (i.e. unrotated)
+    uint8_t  surface_quality;   // image quality (below 15 you really can't trust the x,y values returned)
+    int16_t  x,y;               // total x,y position
+    int16_t  dx,dy;             // rotated change in x and y position
+    float    vlon, vlat;        // position as offsets from original position
+    uint32_t last_update;       // millis() time of last update
+    float    field_of_view;     // field of view in Radians
+    float    scaler;            // number returned from sensor when moved one pixel
+    int16_t  num_pixels;        // number of pixels of resolution in the sensor
+
+    // public variables for reporting purposes
+    float    exp_change_x, exp_change_y;    // expected change in x, y coordinates
+    float    change_x, change_y;            // actual change in x, y coordinates
+    float    x_cm, y_cm;                    // x,y position in cm
 
 protected:
     // pointer to the last instantiated optical flow sensor.  Will be turned

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp

@@ -46,17 +46,21 @@ AP_OpticalFlow_ADNS3080::init()
     // suspend timer while we set-up SPI communication
     hal.scheduler->suspend_timer_procs();
 
-    if( _reset_pin != 0)
+    // reset the device if the reset pin has been defined
+    if(_reset_pin != 0) {
         hal.gpio->pinMode(_reset_pin, GPIO_OUTPUT);
+    }
+
     // reset the device
     reset();
 
-    // check 3 times for the sensor on standard SPI bus
+    // get pointer to the spi bus
     _spi = hal.spi->device(AP_HAL::SPIDevice_ADNS3080_SPI0);
     if (_spi == NULL) {
         retvalue = false; goto finish;
     }
 
+    // check 3 times for the sensor on standard SPI bus
     while( retvalue == false && retry < 3 ) {
         if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
             retvalue = true;
@@ -65,11 +69,13 @@ AP_OpticalFlow_ADNS3080::init()
         retry++;
     }
 
-    // if not found, check 3 times on SPI3
+    // if not found, get pointer to the SPI3 bus
     _spi = hal.spi->device(AP_HAL::SPIDevice_ADNS3080_SPI3);
     if (_spi == NULL) {
         retvalue = false; goto finish;
     }
+
+    // check 3 times on SPI3
     retry = 0;
     while( retvalue == false && retry < 3 ) {
         if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
@@ -77,6 +83,7 @@ AP_OpticalFlow_ADNS3080::init()
         }
         retry++;
     }
+
     // If we fail to find on SPI3, no connection available.
     retvalue = false;
     _spi = NULL;

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h

@@ -79,14 +79,21 @@
 class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
 {
 public:
+
+    // constructor
     AP_OpticalFlow_ADNS3080(uint8_t reset_pin = 0);
+
+    // initialise the sensor
     bool    init();
+
     uint8_t read_register(uint8_t address);
     void    write_register(uint8_t address, uint8_t value);
+
     // reset sensor by holding a pin high (or is it low?) for 10us.
     void    reset();
+
     // read latest values from sensor and fill in x,y and totals,
-    // return true on successful read
+    // returns true on successful read
     void    update(uint32_t now);
 
     // ADNS3080 specific features