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https://github.com/betaflight/betaflight.git
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d244239f39
* 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>
101 lines
2.2 KiB
C
101 lines
2.2 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "common/utils.h"
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#include "config/config.h"
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#include "config/feature.h"
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#include "fc/runtime_config.h"
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#include "flight/pid.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "sensors/acceleration.h"
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#include "sensors/adcinternal.h"
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#include "sensors/barometer.h"
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#include "sensors/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/gyro_init.h"
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#include "sensors/initialisation.h"
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#include "sensors/rangefinder.h"
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#include "sensors/sensors.h"
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#include "sensors/opticalflow.h"
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// requestedSensors is not actually used
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uint8_t requestedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, OPTICALFLOW_NONE};
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uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, OPTICALFLOW_NONE};
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void sensorsPreInit(void)
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{
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gyroPreInit();
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#ifdef USE_MAG
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compassPreInit();
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#endif
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#ifdef USE_BARO
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baroPreInit();
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#endif
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}
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bool sensorsAutodetect(void)
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{
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// gyro must be initialised before accelerometer
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bool gyroDetected = gyroInit();
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#ifdef USE_ACC
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if (gyroDetected) {
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accInit(gyro.accSampleRateHz);
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}
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#endif
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#ifdef USE_BARO
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baroInit();
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#endif
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#ifdef USE_MAG
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compassInit();
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#endif
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#ifdef USE_RANGEFINDER
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rangefinderInit();
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#endif
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#ifdef USE_OPTICALFLOW
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opticalflowInit();
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#endif
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#ifdef USE_ADC_INTERNAL
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adcInternalInit();
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#endif
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return gyroDetected;
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}
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