src/main/sensors/opticalflow.h

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21 #pragma once
  22
  23 #include <stdint.h>
  24 #include <stdbool.h>
  25
  26 #include "drivers/opticalflow/opticalflow.h"
  27
  28 #include "pg/pg.h"
  29
  30 typedef enum {
  31     OPTICALFLOW_NONE = 0,
  32     OPTICALFLOW_MT = 1,
  33 } opticalflowType_e;
  34
  35 typedef struct opticalflowConfig_s {
  36     uint8_t  opticalflow_hardware;
  37     uint16_t rotation;
  38     uint8_t  flip_x;
  39     uint16_t flow_lpf;
  40 } opticalflowConfig_t;
  41
  42 PG_DECLARE(opticalflowConfig_t, opticalflowConfig);
  43
  44 typedef struct opticalflow_s {
  45     opticalflowDev_t dev;
  46     int16_t quality;
  47     vector2_t rawFlowRates;
  48     vector2_t processedFlowRates;
  49     uint32_t timeStampUs;
  50 } opticalflow_t;
  51
  52 bool opticalflowInit(void);
  53
  54 void opticalflowUpdate(void);
  55 bool isOpticalflowHealthy(void);
  56 void opticalflowProcess(void);