C++ (Cpp) apply_orientation_matrix Exemples

Exemple #1

Fichier : AP_OpticalFlow_ADNS3080.cpp Projet : Bieghe/Arduino

// read latest values from sensor and fill in x,y and totals
bool
AP_OpticalFlow_ADNS3080::update()
{
    byte motion_reg;
    surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
    delayMicroseconds(50);      // small delay

    // check for movement, update x,y values
    motion_reg = read_register(ADNS3080_MOTION);
    _overflow = ((motion_reg & 0x10) != 0);      // check if we've had an overflow
    if( (motion_reg & 0x80) != 0 ) {
        raw_dx = ((char)read_register(ADNS3080_DELTA_X));
        delayMicroseconds(50);          // small delay
        raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
        _motion = true;
    }else{
        raw_dx = 0;
        raw_dy = 0;
    }

    last_update = millis();

    apply_orientation_matrix();

    return true;
}

Exemple #2

Fichier : AP_OpticalFlow_ADNS3080.cpp Projet : Kirbyrc/ardupilot

// read latest values from sensor and fill in x,y and totals
void
AP_OpticalFlow_ADNS3080::update(uint32_t now)
{
    uint8_t motion_reg;
    surface_quality = read_register(ADNS3080_SQUAL);
    hal.scheduler->delay_microseconds(50);

    // check for movement, update x,y values
    motion_reg = read_register(ADNS3080_MOTION);
    // check if we've had an overflow
    _overflow = ((motion_reg & 0x10) != 0);
    if( (motion_reg & 0x80) != 0 ) {
        raw_dx = ((int8_t)read_register(ADNS3080_DELTA_X));
        hal.scheduler->delay_microseconds(50);
        raw_dy = ((int8_t)read_register(ADNS3080_DELTA_Y));
        _motion = true;
    }else{
        raw_dx = 0;
        raw_dy = 0;
    }

    last_update = hal.scheduler->millis();

    apply_orientation_matrix();
}