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opticalflow mt sensor added (#14038)

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* opticalflow mt sensor added

* set the processedFlow to raw when no rotation

* use sin and cos approximations

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/sensors/opticalflow.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* refactoring

* not needed anymore

* update

* Update src/main/sensors/opticalflow.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/sensors/opticalflow.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* update

* rm prototype

* clean up

* Update src/main/drivers/opticalflow/opticalflow.h

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/drivers/opticalflow/opticalflow.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* update flip_y

* Update src/main/drivers/opticalflow/opticalflow.h

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/drivers/rangefinder/rangefinder_lidarmt.h

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/sensors/opticalflow.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/sensors/opticalflow.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/sensors/opticalflow.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* rm casting

* update op rotation

---------

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
ahmedsalah52 2024-12-20 19:47:36 +01:00 • committed by GitHub
parent 2f21754a69
commit d244239f39
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
21 changed files with 490 additions and 21 deletions
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25
src/main/fc/tasks.c
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@ -98,6 +98,7 @@
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#include "sensors/rangefinder.h"
#include "sensors/opticalflow.h"
#include "telemetry/telemetry.h"
#include "telemetry/crsf.h"
@ -302,6 +303,20 @@ void taskUpdateRangefinder(timeUs_t currentTimeUs)
}
#endif
#ifdef USE_OPTICALFLOW
void taskUpdateOpticalflow(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (!sensors(SENSOR_OPTICALFLOW)) {
return;
}
opticalflowUpdate();
opticalflowProcess();
}
#endif
#ifdef USE_TELEMETRY
static void taskTelemetry(timeUs_t currentTimeUs)
{
@ -449,7 +464,9 @@ task_attribute_t task_attributes[TASK_COUNT] = {
#ifdef USE_RANGEFINDER
[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
#endif
#ifdef USE_OPTICALFLOW
[TASK_OPTICALFLOW] = DEFINE_TASK("OPTICALFLOW", NULL, NULL, taskUpdateOpticalflow, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
#endif
#ifdef USE_CRSF_V3
[TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
#endif
@ -528,6 +545,12 @@ void tasksInit(void)
}
#endif
#ifdef USE_OPTICALFLOW
if (sensors(SENSOR_OPTICALFLOW)) {
setTaskEnabled(TASK_OPTICALFLOW, featureIsEnabled(FEATURE_OPTICALFLOW));
}
#endif
setTaskEnabled(TASK_RX, true);
setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());