px4flow: removed flow report in driver, just use uORB topic

src/drivers/drv_px4flow.h

@@ -46,37 +46,6 @@
 
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- *
- * @warning If possible the usage of the raw flow and performing rotation-compensation
- *		using the autopilot angular rate estimate is recommended.
- */
-struct px4flow_report {
-
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-
-};
-
-/**
- * @}
- */
-
 /*
  * ObjDev tag for px4flow data.
  */

src/drivers/px4flow/px4flow.cpp

@@ -68,7 +68,7 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/subsystem_info.h>
-//#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/optical_flow.h>
 
 #include <board_config.h>
 
@@ -80,7 +80,7 @@
 /* PX4FLOW Registers addresses */
 #define PX4FLOW_REG	0x00		/* Measure Register */
 
-#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz
+#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz */
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -226,13 +226,13 @@ PX4FLOW::init()
 		goto out;
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(px4flow_report));
+	_reports = new RingBuffer(2, sizeof(struct optical_flow_s));
 
 	if (_reports == nullptr)
 		goto out;
 
 	/* get a publish handle on the px4flow topic */
-	struct px4flow_report zero_report;
+	struct optical_flow_s zero_report;
 	memset(&zero_report, 0, sizeof(zero_report));
 	_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
 
@@ -350,8 +350,8 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 ssize_t
 PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(struct px4flow_report);
+	unsigned count = buflen / sizeof(struct optical_flow_s);
-	struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(buffer);
+	struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
 	int ret = 0;
 
 	/* buffer must be large enough */
@@ -466,7 +466,7 @@ PX4FLOW::collect()
 	int16_t flowcy = val[9] << 8 | val[8];
 	int16_t gdist = val[21] << 8 | val[20];
 
-	struct px4flow_report report;
+	struct optical_flow_s report;
 	report.flow_comp_x_m = float(flowcx)/1000.0f;
 	report.flow_comp_y_m = float(flowcy)/1000.0f;
 	report.flow_raw_x= val[3] << 8 | val[2];
@@ -678,7 +678,7 @@ void stop()
 void
 test()
 {
-	struct px4flow_report report;
+	struct optical_flow_s report;
 	ssize_t sz;
 	int ret;
 

src/modules/mavlink/mavlink_main.cpp

@@ -1396,7 +1396,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
 		configure_stream("ATTITUDE_TARGET", 3.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
-		configure_stream("OPTICAL_FLOW", 0.5f);
+		configure_stream("OPTICAL_FLOW", 20.0f);
 		break;
 
 	case MAVLINK_MODE_ONBOARD: