px4flow.h

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/*
 * Copyright (C) 2013 Gautier Hattenberger
 * 2016 Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
 *
 * 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, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */

#ifndef PX4FLOW_H
#define PX4FLOW_H

#include "std.h"

// control variables
extern bool px4flow_update_agl;
extern bool px4flow_compensate_rotation;
extern float px4flow_stddev;

struct mavlink_optical_flow {
  uint64_t time_usec;     
  float flow_comp_m_x;    
  float flow_comp_m_y;    
  float ground_distance;  
  int16_t flow_x;         
  int16_t flow_y;         
  uint8_t sensor_id;      
  uint8_t quality;        
};

struct mavlink_optical_flow_rad {
  // Timestamp (microseconds, synced to UNIX time or since system boot)
  uint64_t time_usec;
  // Sensor ID
  uint8_t sensor_id;
  // Integration time in microseconds.
  // Divide integrated_x and integrated_y by the integration time to obtain average flow.
  uint32_t integration_time_us;
  // Flow in radians around X axis
  // Sensor RH rotation about the X axis induces a positive flow.
  // Sensor linear motion along the positive Y axis induces a negative flow.
  float integrated_x;
  // Flow in radians around Y axis
  // Sensor RH rotation about the Y axis induces a positive flow.
  // Sensor linear motion along the positive X axis induces a positive flow.
  float integrated_y;
  // RH rotation around X axis (rad)
  float integrated_xgyro;
  // RH rotation around Y axis (rad)
  float integrated_ygyro;
  // RH rotation around Z axis (rad)
  float integrated_zgyro;
  // Temperature * 100 in centi-degrees Celsius
  int16_t temperature;
  // Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
  uint8_t quality;
  // Time in microseconds since the distance was sampled.
  uint32_t time_delta_distance_us;
  // Distance to the center of the flow field in meters.
  // Positive value (including zero): distance known.
  // Negative value: Unknown distance.
  float distance;
};

struct mavlink_heartbeat {
  uint8_t type; // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
  uint8_t autopilot; // Autopilot type / class. defined in MAV_AUTOPILOT ENUM
  uint8_t base_mode; // System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
  uint32_t custom_mode; //  A bitfield for use for autopilot-specific flags.
  uint8_t system_status; // System status flag, see MAV_STATE ENUM
  uint8_t mavlink_version; //_mavlink_version MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
};


extern struct mavlink_heartbeat heartbeat;
extern struct mavlink_optical_flow optical_flow;
extern struct mavlink_optical_flow_rad optical_flow_rad;

extern void px4flow_init(void);
extern void px4flow_downlink(void);

#endif /* PX4FLOW_H */