Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_OpticalFlow_config.h"
       4             : 
       5             : #if HAL_MSP_OPTICALFLOW_ENABLED
       6             : 
       7             : #include "AP_OpticalFlow.h"
       8             : 
       9             : class AP_OpticalFlow_MSP : public OpticalFlow_backend
      10             : {
      11             : public:
      12             :     /// constructor
      13             :     using OpticalFlow_backend::OpticalFlow_backend;
      14             : 
      15             :     // initialise the sensor
      16           0 :     void init() override {}
      17             : 
      18             :     // read latest values from sensor and fill in x,y and totals.
      19             :     void update(void) override;
      20             : 
      21             :     // get update from msp
      22             :     void handle_msp(const MSP::msp_opflow_data_message_t &pkt) override;
      23             : 
      24             :     // detect if the sensor is available
      25             :     static AP_OpticalFlow_MSP *detect(AP_OpticalFlow &_frontend);
      26             : 
      27             : private:
      28             : 
      29             :     uint64_t prev_frame_us;             // system time of last message when update was last called
      30             :     uint64_t latest_frame_us;           // system time of most recent messages processed
      31             :     Vector2l flow_sum;                  // sum of sensor's flow_x and flow_y values since last call to update
      32             :     uint16_t quality_sum;               // sum of sensor's quality values since last call to update
      33             :     uint16_t count;                     // number of sensor readings since last call to update
      34             :     Vector2f gyro_sum;                  // sum of gyro sensor values since last frame from flow sensor
      35             :     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
      36             : };
      37             : 
      38             : #endif // HAL_MSP_OPTICALFLOW_ENABLED