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opflow.h
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opflow.h
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/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
#include <stdint.h>
#include "config/parameter_group.h"
#include "drivers/opflow/opflow.h"
typedef enum {
OPFLOW_NONE = 0,
OPFLOW_FAKE = 1,
OPFLOW_CXOF = 2,
OPFLOW_PMW3901 = 3
} opticalFlowSensor_e;
typedef enum {
OPFLOW_QUALITY_INVALID,
OPFLOW_QUALITY_VALID
} opflowQuality_e;
typedef struct opticalFlowConfig_s {
uint8_t opflow_hardware;
float opflow_scale; // Scaler value to convert between raw sensor units to [deg/s]
} opticalFlowConfig_t;
PG_DECLARE(opticalFlowConfig_t, opticalFlowConfig);
typedef struct opflow_s {
opflowDev_t dev;
opflowQuality_e flowQuality;
timeUs_t lastValidUpdate;
bool isHwHealty;
float flowRate[2]; // optical flow angular rate in rad/sec measured about the X and Y body axis
float bodyRate[2]; // body inertial angular rate in rad/sec measured about the X and Y body axis
float gyroBodyRateAcc[2];
timeUs_t gyroBodyRateTimeUs;
uint8_t rawQuality;
} opflow_t;
extern opflow_t opflow;
void opflowGyroUpdateCallback(timeUs_t gyroUpdateDeltaUs);
bool opflowInit(void);
void opflowUpdate(timeUs_t currentTimeUs);
bool opflowIsHealthy(void);