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- #include <AP_HAL/AP_HAL.h>
- #include <AP_AHRS/AP_AHRS.h>
- #include "AP_OpticalFlow_MAV.h"
- #define OPTFLOW_MAV_TIMEOUT_SEC 0.5f
- AP_OpticalFlow_MAV *AP_OpticalFlow_MAV::detect(OpticalFlow &_frontend)
- {
-
- AP_OpticalFlow_MAV *sensor = new AP_OpticalFlow_MAV(_frontend);
- return sensor;
- }
- void AP_OpticalFlow_MAV::update(void)
- {
-
-
- if (gyro_sum_count < 1000) {
- const Vector3f& gyro = AP::ahrs().get_gyro();
- gyro_sum.x += gyro.x;
- gyro_sum.y += gyro.y;
- gyro_sum_count++;
- }
-
- if (count == 0) {
- return;
- }
- struct OpticalFlow::OpticalFlow_state state {};
- state.surface_quality = quality_sum / count;
-
- const float dt = (latest_frame_us - prev_frame_us) * 1.0e-6;
- prev_frame_us = latest_frame_us;
-
- if (is_positive(dt) && (dt < OPTFLOW_MAV_TIMEOUT_SEC)) {
-
- const float flow_scale_factor_x = 1.0f + 0.001f * _flowScaler().x;
- const float flow_scale_factor_y = 1.0f + 0.001f * _flowScaler().y;
-
- state.flowRate = { ((float)flow_sum.x / count) * flow_scale_factor_x * dt,
- ((float)flow_sum.y / count) * flow_scale_factor_y * dt };
-
- state.bodyRate = { gyro_sum.x / gyro_sum_count, gyro_sum.y / gyro_sum_count };
- _applyYaw(state.flowRate);
- _applyYaw(state.bodyRate);
- } else {
-
- state.flowRate.zero();
- state.bodyRate.zero();
- }
- _update_frontend(state);
-
- flow_sum.zero();
- quality_sum = 0;
- count = 0;
-
- gyro_sum.zero();
- gyro_sum_count = 0;
- }
- void AP_OpticalFlow_MAV::handle_msg(const mavlink_message_t &msg)
- {
- mavlink_optical_flow_t packet;
- mavlink_msg_optical_flow_decode(&msg, &packet);
-
-
- latest_frame_us = AP_HAL::micros64();
-
- flow_sum.x += packet.flow_x;
- flow_sum.y += packet.flow_y;
- quality_sum += packet.quality;
- count++;
-
- sensor_id = packet.sensor_id;
- }
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