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paw3902: fixes and improvements

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- fully respect datasheet quality and shutter metrics for mode changes
 - use MOTION pin for scheduling if available
 - log light mode
 - refactor common enable LED code
 - respect read and write time delays
This commit is contained in:
Daniel Agar
2021-03-15 15:24:57 -04:00
parent 34ea056bd2
commit 4092f87390
5 changed files with 182 additions and 78 deletions
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msg/optical_flow.msg
+8
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@@ -19,3 +19,11 @@ uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: m
float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably
uint8 MODE_UNKNOWN = 0
uint8 MODE_BRIGHT = 1
uint8 MODE_LOWLIGHT = 2
uint8 MODE_SUPER_LOWLIGHT = 3
uint8 mode