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85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "flow.hpp"
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#include <drivers/drv_hrt.h>
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const char *const UavcanFlowBridge::NAME = "flow";
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UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
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UavcanCDevSensorBridgeBase("uavcan_flow", "/dev/uavcan/flow", "/dev/flow", ORB_ID(optical_flow)),
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_sub_flow(node)
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{
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}
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int
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UavcanFlowBridge::init()
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{
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int res = device::CDev::init();
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if (res < 0) {
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return res;
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}
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res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void
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UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
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{
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optical_flow_s flow{};
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flow.timestamp = hrt_absolute_time();
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flow.integration_timespan = 1.e6f * msg.integration_interval; // s -> micros
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flow.pixel_flow_x_integral = msg.flow_integral[0];
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flow.pixel_flow_y_integral = msg.flow_integral[1];
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flow.gyro_x_rate_integral = msg.rate_gyro_integral[0];
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flow.gyro_y_rate_integral = msg.rate_gyro_integral[1];
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flow.quality = msg.quality;
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flow.max_flow_rate = 5.0f; // Datasheet: 7.4 rad/s
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flow.min_ground_distance = 0.1f; // Datasheet: 80mm
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flow.max_ground_distance = 30.0f; // Datasheet: infinity
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publish(msg.getSrcNodeID().get(), &flow);
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}
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