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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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27
src/main/msp/msp.c
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@ -149,6 +149,7 @@
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
#include "sensors/rangefinder.h"
#include "sensors/opticalflow.h"
#include "telemetry/msp_shared.h"
#include "telemetry/telemetry.h"
@ -2054,7 +2055,7 @@ case MSP_NAME:
break;
case MSP_SENSOR_CONFIG:
// use sensorIndex_e index: 0:GyroHardware, 1:AccHardware, 2:BaroHardware, 3:MagHardware, 4:RangefinderHardware
// use sensorIndex_e index: 0:GyroHardware, 1:AccHardware, 2:BaroHardware, 3:MagHardware, 4:RangefinderHardware 5:OpticalflowHardware
#if defined(USE_ACC)
sbufWriteU8(dst, accelerometerConfig()->acc_hardware);
#else
@ -2076,6 +2077,12 @@ case MSP_NAME:
#else
sbufWriteU8(dst, RANGEFINDER_NONE);
#endif
#ifdef USE_OPTICALFLOW
sbufWriteU8(dst, opticalflowConfig()->opticalflow_hardware);
#else
sbufWriteU8(dst, OPTICALFLOW_NONE);
#endif
break;
// Added in MSP API 1.46
@ -2107,6 +2114,11 @@ case MSP_NAME:
sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_RANGEFINDER]);
#else
sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
#endif
#ifdef USE_OPTICAL_FLOW
sbufWriteU8(dst, detectedSensors[SENSOR_INDEX_OPTICALFLOW]);
#else
sbufWriteU8(dst, SENSOR_NOT_AVAILABLE);
#endif
break;
@ -3301,7 +3313,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#ifdef USE_RANGEFINDER
rangefinderConfigMutable()->rangefinder_hardware = sbufReadU8(src);
#else
sbufReadU8(src); // rangefinder hardware
sbufReadU8(src);
#endif
#ifdef USE_OPTICALFLOW
opticalflowConfigMutable()->opticalflow_hardware = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
break;
#ifdef USE_ACC
@ -3658,7 +3676,12 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
case MSP2_SENSOR_RANGEFINDER_LIDARMT:
mtRangefinderReceiveNewData(sbufPtr(src));
break;
case MSP2_SENSOR_OPTICALFLOW_MT:
mtOpticalflowReceiveNewData(sbufPtr(src));
break;
#endif
#ifdef USE_GPS
case MSP2_SENSOR_GPS:
(void)sbufReadU8(src); // instance