inter_thread_data.h

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/*
 * Copyright (C) 2015 The Paparazzi Community
 *
 * This file is part of Paparazzi.
 *
 * Paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * Paparazzi 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 Paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef _INTER_THREAD_DATA_H
#define _INTER_THREAD_DATA_H

#include "math/pprz_algebra_float.h"
#include "math/pprz_algebra_int.h"


/* The result calculated from the opticflow */
struct opticflow_result_t {
  float fps;              
  uint16_t corner_cnt;    
  uint16_t tracked_cnt;   

  int16_t flow_x;         
  int16_t flow_y;         
  int16_t flow_der_x;     
  int16_t flow_der_y;     

  float vel_x;            
  float vel_y;            

  float vel_body_x;     
  float vel_body_y;     

  float div_size;         

  float surface_roughness; 
  float divergence;       

  float noise_measurement;  
};

/* The state of the drone when it took an image */
struct opticflow_state_t {
  struct FloatRates rates;   
  float agl;                 
  struct FloatQuat imu_to_body_quat;   
  struct Int32Vect3 accel_imu_meas;    
};

#endif