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OpticalFlow: add MAVLink driver

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Randy Mackay
2019-04-08 11:26:59 +09:00
parent 5e9aebd678
commit 97b5c2b031
5 changed files with 164 additions and 0 deletions
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libraries/AP_OpticalFlow/OpticalFlow.cpp
+16
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@@ -5,6 +5,7 @@
#include "AP_OpticalFlow_Pixart.h"
#include "AP_OpticalFlow_PX4Flow.h"
#include "AP_OpticalFlow_CXOF.h"
#include "AP_OpticalFlow_MAV.h"
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL& hal;
@@ -118,6 +119,9 @@ void OpticalFlow::init(uint32_t log_bit)
if (backend == nullptr) {
backend = AP_OpticalFlow_CXOF::detect(*this);
}
if (backend == nullptr) {
backend = AP_OpticalFlow_MAV::detect(*this);
}
}
if (backend != nullptr) {
@@ -140,6 +144,18 @@ void OpticalFlow::update(void)
_flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
}
void OpticalFlow::handle_msg(const mavlink_message_t *msg)
{
// exit immediately if not enabled
if (!enabled()) {
return;
}
if (backend != nullptr) {
backend->handle_msg(msg);
}
}
void OpticalFlow::update_state(const OpticalFlow_state &state)
{
_state = state;