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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 03:14:07 +08:00
532c9abd4a
* Fix comment * Ekf wrapper for testing Add utility function for accessing information in the ekf object * Add step function for Gps sensor * Add RangeFinder and Flow to simulated sensors * Add first fusion logic tests * Add units to function name * Use EXPECT_TRUE * Adding missing qualifiers * Improve EXPECT_ calls * Improve naming
39 lines
596 B
C++
39 lines
596 B
C++
#include "flow.h"
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namespace sensor_simulator
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{
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namespace sensor
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{
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Flow::Flow(std::shared_ptr<Ekf> ekf):Sensor(ekf)
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{
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}
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Flow::~Flow()
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{
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}
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void Flow::send(uint32_t time)
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{
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_ekf->setOpticalFlowData(time, &_flow_data);
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}
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void Flow::setData(const flow_message& flow)
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{
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_flow_data = flow;
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}
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flow_message Flow::dataAtRest()
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{
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flow_message _flow_at_rest;
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_flow_at_rest.dt = 20000;
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_flow_at_rest.flowdata = Vector2f{0.0f, 0.0f};
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_flow_at_rest.gyrodata = Vector3f{0.0f, 0.0f, 0.0f};
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_flow_at_rest.quality = 255;
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return _flow_at_rest;
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}
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} // namespace sensor
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} // namespace sensor_simulator
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