AP_OpticalFlow: use new scheduler API

libraries/AP_OpticalFlow/AP_OpticalFlow.cpp

@@ -23,13 +23,6 @@
 
 #define FORTYFIVE_DEGREES 0.78539816f
 
-// pointer to the last instantiated optical flow sensor.  Will be turned into
-// a table if we ever add support for more than one sensor
-AP_OpticalFlow* AP_OpticalFlow::_sensor = NULL;
-// number of times we have been called by 1khz timer process.
-// We use this to throttle read down to 20hz
-uint8_t AP_OpticalFlow::_num_calls;
-
 bool AP_OpticalFlow::init()
 {
     _orientation = ROTATION_NONE;
@@ -47,7 +40,7 @@ void AP_OpticalFlow::set_orientation(enum Rotation rotation)
 // parent method called at 1khz by periodic process
 // this is slowed down to 20hz and each instance's update function is called
 // (only one instance is supported at the moment)
-void AP_OpticalFlow::read(uint32_t now)
+void AP_OpticalFlow::read(void)
 {
     _num_calls++;
 
@@ -55,13 +48,13 @@ void AP_OpticalFlow::read(uint32_t now)
         _num_calls = 0;
         // call to update all attached sensors
         if( _sensor != NULL ) {
-            _sensor->update(now);
+            _sensor->update();
         }
     }
 };
 
 // read value from the sensor.  Should be overridden by derived class
-void AP_OpticalFlow::update(uint32_t now){ }
+void AP_OpticalFlow::update(void){ }
 
 // reads a value from the sensor (will be sensor specific)
 uint8_t AP_OpticalFlow::read_register(uint8_t address){ return 0; }

libraries/AP_OpticalFlow/AP_OpticalFlow.h

@@ -58,10 +58,10 @@ public:
     virtual void    set_field_of_view(const float fov) { 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);
+    void     read();
 
     // read latest values from sensor and fill in x,y and totals.
-    virtual void    update(uint32_t now);
+    virtual void    update();
 
     // updates internal lon and lat with estimation based on optical flow
     virtual void    update_position(float roll, float pitch, float sin_yaw, float cos_yaw, float altitude);
@@ -86,7 +86,7 @@ public:
 protected:
     // pointer to the last instantiated optical flow sensor.  Will be turned
     // into a table if we ever add support for more than one sensor
-    static AP_OpticalFlow *  _sensor;
+    AP_OpticalFlow *  _sensor;
     enum Rotation            _orientation;
     // multiply this number by altitude and pixel change to get horizontal
     // move (in same units as altitude)
@@ -102,7 +102,7 @@ protected:
 private:
     // number of times we have been called by 1khz timer process.
     // We use this to throttle read down to 20hz
-    static uint8_t _num_calls;
+    uint8_t _num_calls;
 };
 
 #include "AP_OpticalFlow_ADNS3080.h"

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp

@@ -102,7 +102,7 @@ finish:
     // if device is working register the global static read function to
     // be called at 1khz
     if( retvalue ) {
-        hal.scheduler->register_timer_process( AP_OpticalFlow_ADNS3080::read );
+        hal.scheduler->register_timer_process(reinterpret_cast<AP_HAL::TimedProc>(&AP_OpticalFlow_ADNS3080::read), this);
     }
 
     // resume timer
@@ -194,7 +194,7 @@ AP_OpticalFlow_ADNS3080::reset()
 
 // read latest values from sensor and fill in x,y and totals
 void
-AP_OpticalFlow_ADNS3080::update(uint32_t now)
+AP_OpticalFlow_ADNS3080::update(void)
 {
     uint8_t motion_reg;
     surface_quality = read_register(ADNS3080_SQUAL);

libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h

@@ -94,7 +94,7 @@ public:
 
     // read latest values from sensor and fill in x,y and totals,
     // returns true on successful read
-    void    update(uint32_t now);
+    void    update(void);
 
     // ADNS3080 specific features