Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_OpticalFlow_config.h"
       4             : 
       5             : #if AP_OPTICALFLOW_MAV_ENABLED
       6             : 
       7             : #include "AP_OpticalFlow_Backend.h"
       8             : #include <AP_HAL/utility/OwnPtr.h>
       9             : 
      10             : class AP_OpticalFlow_MAV : public OpticalFlow_backend
      11             : {
      12             : public:
      13             :     /// constructor
      14             :     using OpticalFlow_backend::OpticalFlow_backend;
      15             : 
      16             :     // initialise the sensor
      17           0 :     void init() override {}
      18             : 
      19             :     // read latest values from sensor and fill in x,y and totals.
      20             :     void update(void) override;
      21             : 
      22             :     // get update from mavlink
      23             :     void handle_msg(const mavlink_message_t &msg) override;
      24             : 
      25             :     // detect if the sensor is available
      26             :     static AP_OpticalFlow_MAV *detect(AP_OpticalFlow &_frontend);
      27             : 
      28             : private:
      29             : 
      30             :     uint64_t prev_frame_us;             // system time of last message when update was last called
      31             :     uint64_t latest_frame_us;           // system time of most recent messages processed
      32             :     Vector2f flow_sum;                  // sum of sensor's flow_x and flow_y values since last call to update
      33             :     bool flow_sum_is_rads;              // true if flow_sum holds values in rad/s, if false flow_sum holds dpi
      34             :     uint16_t quality_sum;               // sum of sensor's quality values since last call to update
      35             :     uint16_t count;                     // number of sensor readings since last call to update
      36             :     uint8_t sensor_id;                  // sensor_id received in latest mavlink message
      37             :     Vector2f gyro_sum;                  // sum of gyro sensor values since last frame from flow sensor
      38             :     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
      39             : };
      40             : 
      41             : #endif  // AP_OPTICALFLOW_MAV_ENABLED