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 "state.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	MAVLINK_OPTICAL_HEARTBEAT_MSG_ID   0
#define	MAVLINK_OPTICAL_FLOW_MSG_ID   100
#define	MAVLINK_OPTICAL_FLOW_RAD_MSG_ID   106
#define	PX4FLOW_QUALITY_THRESHOLD   0.1

Functions
static void	decode_optical_flow_msg (struct mavlink_message *msg)
static void	decode_optical_flow_rad_msg (struct mavlink_message *msg)
	According to https://pixhawk.org/modules/px4flow the PX4flow module outputs OPTICAL_FLOW_RAD message as well as OPTICAL_FLOW message. More...
static void	decode_heartbeat_msg (struct mavlink_message *msg)
void	px4flow_init (void)
	Initialization function. More...
void	px4flow_downlink (void)
	Downlink message for debug. More...

Variables
struct mavlink_heartbeat	heartbeat
struct mavlink_optical_flow	optical_flow
struct mavlink_optical_flow_rad	optical_flow_rad
struct mavlink_msg_req	req_flow
struct mavlink_msg_req	req_flow_rad
struct mavlink_msg_req	req_heartbeat
bool	px4flow_update_agl
bool	px4flow_compensate_rotation
float	px4flow_stddev

Detailed Description

driver for the optical flow sensor PX4FLOW

driver for the optical flow sensor PX4FLOW over i2c

Sensor from the PIXHAWK project

Definition in file px4flow.c.

Macro Definition Documentation

#define MAVLINK_OPTICAL_FLOW_MSG_ID   100

Definition at line 48 of file px4flow.c.

Referenced by px4flow_init().

#define MAVLINK_OPTICAL_FLOW_RAD_MSG_ID   106

Definition at line 49 of file px4flow.c.

Referenced by px4flow_init().

#define MAVLINK_OPTICAL_HEARTBEAT_MSG_ID   0

Definition at line 47 of file px4flow.c.

Referenced by px4flow_init().

#define PX4FLOW_QUALITY_THRESHOLD   0.1

Definition at line 59 of file px4flow.c.

Referenced by decode_optical_flow_msg().

Function Documentation

static void decode_heartbeat_msg ( struct mavlink_message *  msg )

static

Definition at line 127 of file px4flow.c.

Referenced by px4flow_init().

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static void decode_optical_flow_msg ( struct mavlink_message *  msg )

static

Definition at line 78 of file px4flow.c.

References AGL_SONAR_PX4FLOW_ID, mavlink_optical_flow::flow_comp_m_x, mavlink_optical_flow::flow_comp_m_y, get_sys_time_usec(), mavlink_optical_flow::ground_distance, optical_flow, FloatEulers::phi, px4flow_compensate_rotation, PX4FLOW_QUALITY_THRESHOLD, px4flow_stddev, px4flow_update_agl, mavlink_optical_flow::quality, stateGetNedToBodyEulers_f(), FloatEulers::theta, mavlink_optical_flow::time_usec, and VEL_PX4FLOW_ID.

Referenced by px4flow_init().

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static void decode_optical_flow_rad_msg ( struct mavlink_message *  msg )

static

According to https://pixhawk.org/modules/px4flow the PX4flow module outputs OPTICAL_FLOW_RAD message as well as OPTICAL_FLOW message.

However, on my camera only OPTICAL_FLOW is received. Maybe different firmwares send different messages?

Definition at line 122 of file px4flow.c.

Referenced by px4flow_init().

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void px4flow_downlink

(

void

)

Downlink message for debug.

Definition at line 162 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, mavlink_optical_flow::sensor_id, and mavlink_optical_flow::time_usec.

void px4flow_init

(

void

)

Initialization function.

Definition at line 135 of file px4flow.c.

References mavlink_msg_req::callback, decode_heartbeat_msg(), decode_optical_flow_msg(), decode_optical_flow_rad_msg(), heartbeat, MAVLINK_OPTICAL_FLOW_MSG_ID, MAVLINK_OPTICAL_FLOW_RAD_MSG_ID, MAVLINK_OPTICAL_HEARTBEAT_MSG_ID, mavlink_register_msg(), mavlink_tp, mavlink_msg_req::msg, mavlink_msg_req::msg_id, optical_flow, optical_flow_rad, mavlink_message::payload, px4flow_compensate_rotation, px4flow_stddev, px4flow_update_agl, req_flow, req_flow_rad, and req_heartbeat.

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Variable Documentation

struct mavlink_heartbeat heartbeat

Definition at line 42 of file px4flow.c.

Referenced by jevois_mavlink_event(), and px4flow_init().

struct mavlink_optical_flow optical_flow

Definition at line 43 of file px4flow.c.

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

struct mavlink_optical_flow_rad optical_flow_rad

Definition at line 44 of file px4flow.c.

Referenced by px4flow_init().

bool px4flow_compensate_rotation

Definition at line 71 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().

float px4flow_stddev

Definition at line 74 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().

bool px4flow_update_agl

Definition at line 68 of file px4flow.c.

Referenced by decode_optical_flow_msg(), and px4flow_init().

struct mavlink_msg_req req_flow

Definition at line 63 of file px4flow.c.

Referenced by px4flow_init().

struct mavlink_msg_req req_flow_rad

Definition at line 64 of file px4flow.c.

Referenced by px4flow_init().

struct mavlink_msg_req req_heartbeat

Definition at line 65 of file px4flow.c.

Referenced by px4flow_init().