void Sub::update_optical_flow(void)
{
static uint32_t last_of_update = 0;
// exit immediately if not enabled
if (!optflow.enabled()) {
return;
}
// read from sensor
optflow.update();
// write to log and send to EKF if new data has arrived
if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update();
uint8_t flowQuality = optflow.quality();
Vector2f flowRate = optflow.flowRate();
Vector2f bodyRate = optflow.bodyRate();
const Vector3f &posOffset = optflow.get_pos_offset();
ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, posOffset);
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
Log_Write_Optflow();
}
}
}
void OpticalFlow::update_state(const OpticalFlow_state &state)
{
_state = state;
_last_update_ms = AP_HAL::millis();
// write to log and send to EKF if new data has arrived
AP::ahrs_navekf().writeOptFlowMeas(quality(),
_state.flowRate,
_state.bodyRate,
_last_update_ms,
get_pos_offset());
Log_Write_Optflow();
}
// called at 50hz
void Plane::update_optical_flow(void)
{
static uint32_t last_of_update = 0;
// exit immediately if not enabled
if (!optflow.enabled()) {
return;
}
// read from sensor
optflow.update();
// write to log and send to EKF if new data has arrived
if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update();
uint8_t flowQuality = optflow.quality();
Vector2f flowRate = optflow.flowRate();
Vector2f bodyRate = optflow.bodyRate();
ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update);
Log_Write_Optflow();
}
}
