#include <OpticalFlow_Onboard.h>

Inheritance diagram for Linux::OpticalFlow_Onboard:

Collaboration diagram for Linux::OpticalFlow_Onboard:

Public Member Functions
void	init ()

bool	read (AP_HAL::OpticalFlow::Data_Frame &frame)

void	push_gyro (float gyro_x, float gyro_y, float dt)

void	push_gyro_bias (float gyro_bias_x, float gyro_bias_y)

Private Member Functions
void	_run_optflow ()

void	_get_integrated_gyros (uint64_t timestamp, GyroSample &gyro)

Static Private Member Functions
static void *	_read_thread (void *arg)

Private Attributes
VideoIn *	_videoin

VideoIn::Frame	_last_video_frame

PWM_Sysfs_Base *	_pwm

CameraSensor *	_camerasensor

Flow_PX4 *	_flow

pthread_t	_thread

pthread_mutex_t	_mutex

bool	_initialized

bool	_data_available

bool	_crop_by_software

bool	_shrink_by_software

uint32_t	_camera_output_width

uint32_t	_camera_output_height

uint32_t	_width

uint32_t	_height

uint32_t	_format

uint32_t	_bytesperline

uint32_t	_sizeimage

float	_pixel_flow_x_integral

float	_pixel_flow_y_integral

float	_gyro_x_integral

float	_gyro_y_integral

uint64_t	_integration_timespan

uint8_t	_surface_quality

Vector2f	_last_gyro_rate

Vector2f	_gyro_bias

Vector2f	_integrated_gyro

uint64_t	_last_integration_time

ObjectBuffer< GyroSample > *	_gyro_ring_buffer

Detailed Description

Definition at line 37 of file OpticalFlow_Onboard.h.

Member Function Documentation

◆ _get_integrated_gyros()

void OpticalFlow_Onboard::_get_integrated_gyros	(	uint64_t	timestamp,
		GyroSample &	gyro
	)

private

Definition at line 241 of file OpticalFlow_Onboard.cpp.

Referenced by _run_optflow().

Here is the caller graph for this function:

◆ _read_thread()

void * OpticalFlow_Onboard::_read_thread ( void * arg )

staticprivate

Definition at line 259 of file OpticalFlow_Onboard.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _run_optflow()

void OpticalFlow_Onboard::_run_optflow ( )

private

Definition at line 267 of file OpticalFlow_Onboard.cpp.

Referenced by _read_thread().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init()

void OpticalFlow_Onboard::init ( void )

virtual

Implements AP_HAL::OpticalFlow.

Definition at line 43 of file OpticalFlow_Onboard.cpp.

Here is the call graph for this function:

◆ push_gyro()

void OpticalFlow_Onboard::push_gyro	(	float	gyro_x,
		float	gyro_y,
		float	dt
	)

virtual

Implements AP_HAL::OpticalFlow.

Definition at line 223 of file OpticalFlow_Onboard.cpp.

Here is the call graph for this function:

◆ push_gyro_bias()

void OpticalFlow_Onboard::push_gyro_bias	(	float	gyro_bias_x,
		float	gyro_bias_y
	)

virtual

Implements AP_HAL::OpticalFlow.

Definition at line 253 of file OpticalFlow_Onboard.cpp.

◆ read()

bool OpticalFlow_Onboard::read ( AP_HAL::OpticalFlow::Data_Frame & frame )

virtual

Implements AP_HAL::OpticalFlow.

Definition at line 196 of file OpticalFlow_Onboard.cpp.

Member Data Documentation

◆ _bytesperline

uint32_t Linux::OpticalFlow_Onboard::_bytesperline

private

Definition at line 64 of file OpticalFlow_Onboard.h.

Referenced by init().

◆ _camera_output_height

uint32_t Linux::OpticalFlow_Onboard::_camera_output_height

private

Definition at line 60 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _camera_output_width

uint32_t Linux::OpticalFlow_Onboard::_camera_output_width

private

Definition at line 59 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _camerasensor

CameraSensor* Linux::OpticalFlow_Onboard::_camerasensor

private

Definition at line 51 of file OpticalFlow_Onboard.h.

Referenced by init().

◆ _crop_by_software

bool Linux::OpticalFlow_Onboard::_crop_by_software

private

Definition at line 57 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _data_available

bool Linux::OpticalFlow_Onboard::_data_available

private

Definition at line 56 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _flow

Flow_PX4* Linux::OpticalFlow_Onboard::_flow

private

Definition at line 52 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _format

uint32_t Linux::OpticalFlow_Onboard::_format

private

Definition at line 63 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _gyro_bias

Vector2f Linux::OpticalFlow_Onboard::_gyro_bias

private

Definition at line 73 of file OpticalFlow_Onboard.h.

Referenced by push_gyro(), and push_gyro_bias().

◆ _gyro_ring_buffer

ObjectBuffer<GyroSample>* Linux::OpticalFlow_Onboard::_gyro_ring_buffer

private

Definition at line 76 of file OpticalFlow_Onboard.h.

Referenced by _get_integrated_gyros(), init(), and push_gyro().

◆ _gyro_x_integral

float Linux::OpticalFlow_Onboard::_gyro_x_integral

private

Definition at line 68 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _gyro_y_integral

float Linux::OpticalFlow_Onboard::_gyro_y_integral

private

Definition at line 69 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _height

uint32_t Linux::OpticalFlow_Onboard::_height

private

Definition at line 62 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _initialized

bool Linux::OpticalFlow_Onboard::_initialized

private

Definition at line 55 of file OpticalFlow_Onboard.h.

Referenced by init().

◆ _integrated_gyro

Vector2f Linux::OpticalFlow_Onboard::_integrated_gyro

private

Definition at line 74 of file OpticalFlow_Onboard.h.

Referenced by push_gyro().

◆ _integration_timespan

uint64_t Linux::OpticalFlow_Onboard::_integration_timespan

private

Definition at line 70 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _last_gyro_rate

Vector2f Linux::OpticalFlow_Onboard::_last_gyro_rate

private

Definition at line 72 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow().

◆ _last_integration_time

uint64_t Linux::OpticalFlow_Onboard::_last_integration_time

private

Definition at line 75 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow().

◆ _last_video_frame

VideoIn::Frame Linux::OpticalFlow_Onboard::_last_video_frame

private

Definition at line 49 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow().

◆ _mutex

pthread_mutex_t Linux::OpticalFlow_Onboard::_mutex

private

Definition at line 54 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), init(), and read().

◆ _pixel_flow_x_integral

float Linux::OpticalFlow_Onboard::_pixel_flow_x_integral

private

Definition at line 66 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _pixel_flow_y_integral

float Linux::OpticalFlow_Onboard::_pixel_flow_y_integral

private

Definition at line 67 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _pwm

PWM_Sysfs_Base* Linux::OpticalFlow_Onboard::_pwm

private

Definition at line 50 of file OpticalFlow_Onboard.h.

Referenced by init().

◆ _shrink_by_software

bool Linux::OpticalFlow_Onboard::_shrink_by_software

private

Definition at line 58 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _sizeimage

uint32_t Linux::OpticalFlow_Onboard::_sizeimage

private

Definition at line 65 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _surface_quality

uint8_t Linux::OpticalFlow_Onboard::_surface_quality

private

Definition at line 71 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and read().

◆ _thread

pthread_t Linux::OpticalFlow_Onboard::_thread

private

Definition at line 53 of file OpticalFlow_Onboard.h.

Referenced by init().

◆ _videoin

VideoIn* Linux::OpticalFlow_Onboard::_videoin

private

Definition at line 48 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

◆ _width

uint32_t Linux::OpticalFlow_Onboard::_width

private

Definition at line 61 of file OpticalFlow_Onboard.h.

Referenced by _run_optflow(), and init().

The documentation for this class was generated from the following files:

libraries/AP_HAL_Linux/OpticalFlow_Onboard.h
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ _get_integrated_gyros()

◆ _read_thread()

◆ _run_optflow()

◆ init()

◆ push_gyro()

◆ push_gyro_bias()

◆ read()

Member Data Documentation

◆ _bytesperline

◆ _camera_output_height

◆ _camera_output_width

◆ _camerasensor

◆ _crop_by_software

◆ _data_available

◆ _flow

◆ _format

◆ _gyro_bias

◆ _gyro_ring_buffer

◆ _gyro_x_integral

◆ _gyro_y_integral

◆ _height

◆ _initialized

◆ _integrated_gyro

◆ _integration_timespan

◆ _last_gyro_rate

◆ _last_integration_time

◆ _last_video_frame

◆ _mutex

◆ _pixel_flow_x_integral

◆ _pixel_flow_y_integral

◆ _pwm

◆ _shrink_by_software

◆ _sizeimage

◆ _surface_quality

◆ _thread

◆ _videoin

◆ _width