px4flow.c File Reference

driver for the optical flow sensor PX4FLOW More...

#include "modules/optical_flow/px4flow.h"
#include "modules/datalink/mavlink_decoder.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	MAVLINK_OPTICAL_FLOW_MSG_ID   100
#define	MAVLINK_OPTICAL_FLOW_LEN   26
#define	PX4FLOW_NOISE   0.5

Functions
static void	decode_optical_flow_msg (struct mavlink_message *msg)
void	px4flow_init (void)
	Initialization function. More...
void	px4flow_downlink (void)
	Downlink message for debug. More...

Variables
struct mavlink_optical_flow	optical_flow
bool	optical_flow_available
struct mavlink_msg_req	req

Detailed Description

driver for the optical flow sensor PX4FLOW

Sensor from the PIXHAWK project

Definition in file px4flow.c.

Macro Definition Documentation

#define MAVLINK_OPTICAL_FLOW_LEN   26

Definition at line 39 of file px4flow.c.

#define MAVLINK_OPTICAL_FLOW_MSG_ID   100

Definition at line 37 of file px4flow.c.

Referenced by px4flow_init().

#define PX4FLOW_NOISE   0.5

Definition at line 42 of file px4flow.c.

Referenced by decode_optical_flow_msg().

Function Documentation

static void decode_optical_flow_msg ( struct mavlink_message *  msg )

static

Definition at line 50 of file px4flow.c.

References mavlink_optical_flow::flow_x, mavlink_optical_flow::flow_y, mavlink_optical_flow::ground_distance, optical_flow, optical_flow_available, PX4FLOW_NOISE, and PX4FLOW_VELOCITY_ID.

Referenced by px4flow_init().

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void px4flow_downlink

(

void

)

Downlink message for debug.

Definition at line 83 of file px4flow.c.

References DefaultChannel, DefaultDevice, mavlink_optical_flow::flow_comp_m_x, mavlink_optical_flow::flow_comp_m_y, mavlink_optical_flow::flow_x, mavlink_optical_flow::flow_y, mavlink_optical_flow::ground_distance, optical_flow, mavlink_optical_flow::quality, and mavlink_optical_flow::sensor_id.

void px4flow_init

(

void

)

Initialization function.

Definition at line 64 of file px4flow.c.

References mavlink_msg_req::callback, decode_optical_flow_msg(), MAVLINK_OPTICAL_FLOW_MSG_ID, mavlink_register_msg(), mavlink_tp, mavlink_msg_req::msg, mavlink_msg_req::msg_id, optical_flow, optical_flow_available, mavlink_message::payload, and req.

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Variable Documentation

struct mavlink_optical_flow optical_flow

Definition at line 33 of file px4flow.c.

Referenced by decode_optical_flow_msg(), px4flow_downlink(), and px4flow_init().

bool optical_flow_available

Definition at line 34 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().

struct mavlink_msg_req req

Definition at line 46 of file px4flow.c.

Referenced by mavlink_register_msg(), mavlink_wp_message_handler(), and px4flow_init().