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mavlink: OPTICAL_FLOW stream implemented

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This commit is contained in:
Anton Babushkin
2014-03-04 11:45:58 +04:00
parent 14ddf1804a
commit 190eb6205d
1 changed files with 40 additions and 11 deletions
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src/modules/mavlink/mavlink_messages.cpp
+40 -11
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@@ -1063,6 +1063,45 @@ protected:
};
class MavlinkStreamOpticalFlow : public MavlinkStream
{
public:
const char *get_name()
{
return "OPTICAL_FLOW";
}
MavlinkStream *new_instance()
{
return new MavlinkStreamOpticalFlow();
}
private:
MavlinkOrbSubscription *flow_sub;
struct optical_flow_s *flow;
protected:
void subscribe(Mavlink *mavlink)
{
flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow));
flow = (struct optical_flow_s *)flow_sub->get_data();
}
void send(const hrt_abstime t)
{
flow_sub->update(t);
mavlink_msg_optical_flow_send(_channel,
flow->timestamp,
flow->sensor_id,
flow->flow_raw_x, flow->flow_raw_y,
flow->flow_comp_x_m, flow->flow_comp_y_m,
flow->quality,
flow->ground_distance_m);
}
};
MavlinkStream *streams_list[] = {
new MavlinkStreamHeartbeat(),
new MavlinkStreamSysStatus(),
@@ -1085,6 +1124,7 @@ MavlinkStream *streams_list[] = {
new MavlinkStreamRollPitchYawRatesThrustSetpoint(),
new MavlinkStreamRCChannelsRaw(),
new MavlinkStreamManualControl(),
new MavlinkStreamOpticalFlow(),
nullptr
};
@@ -1143,17 +1183,6 @@ MavlinkStream *streams_list[] = {
//}
//
//void
//MavlinkOrbListener::l_optical_flow(const struct listener *l)
//{
// struct optical_flow_s flow;
//
// orb_copy(ORB_ID(optical_flow), l->mavlink->get_subs()->optical_flow, &flow);
//
// mavlink_msg_optical_flow_send(l->mavlink->get_chan(), flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
// flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
//}
//
//void
//MavlinkOrbListener::l_nav_cap(const struct listener *l)
//{
//