Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_OpticalFlow_config.h"
       4             : 
       5             : #if AP_OPTICALFLOW_HEREFLOW_ENABLED
       6             : 
       7             : #include "AP_OpticalFlow_Backend.h"
       8             : #include <AP_DroneCAN/AP_DroneCAN.h>
       9             : 
      10             : class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {
      11             : public:
      12             :     AP_OpticalFlow_HereFlow(AP_OpticalFlow &flow);
      13             : 
      14           0 :     void init() override {}
      15             : 
      16             :     void update() override;
      17             : 
      18             :     static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
      19             : 
      20             :     static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg);
      21             : 
      22             : private:
      23             : 
      24             :     Vector2f flow_integral, rate_gyro_integral;
      25             :     uint8_t surface_quality;
      26             :     float integral_time;
      27             :     bool new_data;
      28             :     static uint8_t _node_id;
      29             : 
      30             :     static AP_OpticalFlow_HereFlow* _driver;
      31             :     static AP_DroneCAN* _ap_dronecan;
      32             :     void _push_state(void);
      33             : 
      34             : };
      35             : 
      36             : #endif  // AP_OPTICALFLOW_HEREFLOW_ENABLED