PX4Flow Class Reference

Interface for Optic Flow sensors. More...

#include <px4flow.hpp>

Inheritance diagram for PX4Flow:

Collaboration diagram for PX4Flow:

List of all members.

Public Types
enum	orientation_t { ORIENT_0_DEG = 0, ORIENT_90_DEG = 1, ORIENT_180_DEG = 2, ORIENT_270_DEG = 3 }
	Enumeration of possible orientations for the sensor rel. to the drone.
Public Member Functions
	PX4Flow (void)
	Constructor.
bool	healthy (void) const
	Indicates whether the measurements can be trusted.
virtual bool	update (void)=0
	Main update function.
float	flow_x (void) const
	Get flow in x direction.
float	flow_y (void) const
	Get flow in y direction.
uint8_t	flow_quality (void) const
	Get flow quality.
float	velocity_x (void) const
	Get velocity in x direction.
float	velocity_y (void) const
	Get velocity in y direction.
float	velocity_z (void) const
	Get velocity in z direction.
float	ground_distance (void) const
	Get ground distance.
float	last_update_s (void) const
	Get last update time in seconds.
Static Public Member Functions
static bool	update_task (PX4Flow *flow)
	Glue function used for scheduler.
Protected Member Functions
void	rotate_raw_values (orientation_t orientation, float flow_x_raw, float flow_y_raw, float velocity_x_raw, float velocity_y_raw)
	Applies rotation to raw readings based on how the camera is mounted on drone.
Protected Attributes
float	flow_x_
	Optic flow in x direction (rad/s)
float	flow_y_
	Optic flow in y direction (rad/s)
uint8_t	flow_quality_
	Quality of optic flow measurement (between 0 and 255)
float	velocity_x_
	Velocity in x direction (m/s)
float	velocity_y_
	Velocity in y direction (m/s)
float	velocity_z_
	Velocity in z direction (m/s)
float	ground_distance_
	Ground distance (m)
Buffer_T< 3, float >	ground_distance_buffer_
	Buffer used to filter sonar measurement.
float	last_update_s_
	Last update time in seconds.
bool	is_healthy_
	Indicates if sensor data can be trusted.

---

Detailed Description

Interface for Optic Flow sensors.

---

Member Function Documentation

uint8_t PX4Flow::flow_quality

(

void

)

const

Get flow quality.

Returns:

Value

float PX4Flow::flow_x

(

void

)

const

Get flow in x direction.

Returns:

Value

float PX4Flow::flow_y

(

void

)

const

Get flow in y direction.

Returns:

Value

float PX4Flow::ground_distance

(

void

)

const

Get ground distance.

Returns:

Value

bool PX4Flow::healthy

(

void

)

const

Indicates whether the measurements can be trusted.

Returns:

Value

Here is the caller graph for this function:

float PX4Flow::last_update_s

(

void

)

const

Get last update time in seconds.

Returns:

Value

Here is the caller graph for this function:

void PX4Flow::rotate_raw_values	(	orientation_t	orientation,
		float	flow_x_raw,
		float	flow_y_raw,
		float	velocity_x_raw,
		float	velocity_y_raw
	)		[protected]

Applies rotation to raw readings based on how the camera is mounted on drone.

Parameters:

orientation	Orientation of camera
flow_x_raw	X flow in camera frmae
flow_y_raw	Y flow in camera frmae
velocity_x_raw	X velocity in camera frmae
velocity_y_raw	Y velocity in camera frmae

Here is the caller graph for this function:

virtual bool PX4Flow::update

(

void

)

[pure virtual]

Main update function.

Returns:

success

Implemented in PX4Flow_serial, and PX4Flow_i2c.

Here is the caller graph for this function:

static bool PX4Flow::update_task

(

PX4Flow *

flow

)

[inline, static]

Glue function used for scheduler.

Parameters:

flow	Pointer to flow object

Returns:

success

Here is the call graph for this function:

float PX4Flow::velocity_x

(

void

)

const

Get velocity in x direction.

Returns:

Value

float PX4Flow::velocity_y

(

void

)

const

Get velocity in y direction.

Returns:

Value

float PX4Flow::velocity_z

(

void

)

const

Get velocity in z direction.

Returns:

Value

---

The documentation for this class was generated from the following files:

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/px4flow.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/px4flow.cpp