mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
d5839e2dd5
- 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>
99 lines
3.4 KiB
C++
99 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "flow.hpp"
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
const char *const UavcanFlowBridge::NAME = "flow";
|
|
|
|
UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
|
|
UavcanSensorBridgeBase("uavcan_flow", ORB_ID(sensor_optical_flow)),
|
|
_sub_flow(node)
|
|
{
|
|
}
|
|
|
|
int
|
|
UavcanFlowBridge::init()
|
|
{
|
|
int res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
|
|
|
|
if (res < 0) {
|
|
DEVICE_LOG("failed to start uavcan sub: %d", res);
|
|
return res;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
|
|
{
|
|
sensor_optical_flow_s flow{};
|
|
flow.timestamp_sample = hrt_absolute_time(); // TODO
|
|
|
|
device::Device::DeviceId device_id;
|
|
device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_UAVCAN;
|
|
device_id.devid_s.bus = 0;
|
|
device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_UAVCAN;
|
|
device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
|
|
|
|
flow.device_id = device_id.devid;
|
|
|
|
flow.pixel_flow[0] = msg.flow_integral[0];
|
|
flow.pixel_flow[1] = msg.flow_integral[1];
|
|
|
|
flow.integration_timespan_us = 1.e6f * msg.integration_interval; // s -> us
|
|
|
|
flow.quality = msg.quality;
|
|
|
|
if (PX4_ISFINITE(msg.rate_gyro_integral[0]) && PX4_ISFINITE(msg.rate_gyro_integral[1])) {
|
|
flow.delta_angle[0] = msg.rate_gyro_integral[0];
|
|
flow.delta_angle[1] = msg.rate_gyro_integral[1];
|
|
flow.delta_angle[2] = 0.f;
|
|
flow.delta_angle_available = true;
|
|
|
|
} else {
|
|
flow.delta_angle[0] = NAN;
|
|
flow.delta_angle[1] = NAN;
|
|
flow.delta_angle[2] = NAN;
|
|
}
|
|
|
|
flow.max_flow_rate = NAN;
|
|
flow.min_ground_distance = NAN;
|
|
flow.max_ground_distance = NAN;
|
|
|
|
flow.timestamp = hrt_absolute_time();
|
|
|
|
publish(msg.getSrcNodeID().get(), &flow);
|
|
}
|