fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-14 11:41:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

optical flow sensor pipeline overhaul

Browse Source 
- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-20 20:56:56 -04:00
co-authored by alexklimaj
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/optical_flow/paw3902/PAW3902.cpp
+13 -14
View File
@@ -788,27 +788,26 @@ void PAW3902::RunImpl()
return;
}
optical_flow_s report{};
report.timestamp = timestamp_sample;
//report.device_id = get_device_id();
sensor_optical_flow_s report{};
report.timestamp_sample = timestamp_sample;
report.device_id = get_device_id();
float pixel_flow_x_integral = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
float pixel_flow_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians
// rotate measurements in yaw from sensor frame to body frame
const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{pixel_flow_x_integral, pixel_flow_y_integral, 0.f};
report.pixel_flow_x_integral = pixel_flow_rotated(0);
report.pixel_flow_y_integral = pixel_flow_rotated(1);
report.pixel_flow[0] = pixel_flow_rotated(0);
report.pixel_flow[1] = pixel_flow_rotated(1);
report.frame_count_since_last_readout = _flow_sample_counter; // number of frames
report.integration_timespan = _flow_dt_sum_usec; // microseconds
report.integration_timespan_us = _flow_dt_sum_usec; // microseconds
report.quality = _flow_quality_sum / _flow_sample_counter;
// No gyro on this board
report.gyro_x_rate_integral = NAN;
report.gyro_y_rate_integral = NAN;
report.gyro_z_rate_integral = NAN;
report.delta_angle[0] = NAN;
report.delta_angle[1] = NAN;
report.delta_angle[2] = NAN;
// set (conservative) specs according to datasheet
report.max_flow_rate = 7.4f; // Datasheet: 7.4 rad/s
@@ -818,20 +817,20 @@ void PAW3902::RunImpl()
switch (_mode) {
case Mode::Bright:
report.mode = optical_flow_s::MODE_BRIGHT;
report.mode = sensor_optical_flow_s::MODE_BRIGHT;
break;
case Mode::LowLight:
report.mode = optical_flow_s::MODE_LOWLIGHT;
report.mode = sensor_optical_flow_s::MODE_LOWLIGHT;
break;
case Mode::SuperLowLight:
report.mode = optical_flow_s::MODE_SUPER_LOWLIGHT;
report.mode = sensor_optical_flow_s::MODE_SUPER_LOWLIGHT;
break;
}
report.timestamp = hrt_absolute_time();
_optical_flow_pub.publish(report);
_sensor_optical_flow_pub.publish(report);
if (report.quality > 10) {
_last_good_publish = report.timestamp;