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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
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GPG key ID: B5690EEEBB952194
21 changed files with 490 additions and 21 deletions
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9
src/main/sensors/initialisation.c
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@ -45,10 +45,11 @@
#include "sensors/initialisation.h"
#include "sensors/rangefinder.h"
#include "sensors/sensors.h"
#include "sensors/opticalflow.h"
// requestedSensors is not actually used
uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE };
uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE };
uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, OPTICALFLOW_NONE};
uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, OPTICALFLOW_NONE};
void sensorsPreInit(void)
{
@ -88,6 +89,10 @@ bool sensorsAutodetect(void)
rangefinderInit();
#endif
#ifdef USE_OPTICALFLOW
opticalflowInit();
#endif
#ifdef USE_ADC_INTERNAL
adcInternalInit();
#endif