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AP_HAL_Linux: fix focal lengths calculation

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Fixed focal length on bebop due to wrong spec.
Fix comment that had a typo.
Fixed focal length calculations on other boards that were mislead
by the typo.
This commit is contained in:
Julien Beraud 2017-01-17 19:24:06 +01:00 committed by Andrew Tridgell
parent 677a2f600f
commit c31522c2c3
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_HAL/board/linux.h
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@ -71,10 +71,10 @@
#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"
#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
/* focal length 3.6 um, 2x binning in each direction
/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
@ -112,9 +112,9 @@
#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
/* focal length 3.6 um, 2x binning in each direction
/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
// the disco has challenges with its magnetic setup
#define AP_ARMING_COMPASS_OFFSETS_MAX 2200
@ -143,7 +143,7 @@
/* ELP-USBFHD01M-L21
* focal length 2.1 mm, pixel size 3 um
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.1 / (3.0 * 2.0 * 240 / 64))
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
@ -240,7 +240,7 @@
/* ELP-USBFHD01M-L21
* focal length 2.1 mm, pixel size 3 um
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.1 / (3.0 * 2.0 * 240 / 64))
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"