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

/*******************************************************************************
 * Copyright (c) 2009-2015, MAV'RIC Development Team
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/*******************************************************************************
 * \file px4flow.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Interface for Optic Flow sensors
 *
 ******************************************************************************/

#ifndef PX4FLOW_HPP_
#define PX4FLOW_HPP_

#include "util/buffer.hpp"
#include <cstdint>

class PX4Flow
{
public:
    enum orientation_t
    {
        ORIENT_0_DEG   = 0,
        ORIENT_90_DEG  = 1,
        ORIENT_180_DEG = 2,
        ORIENT_270_DEG = 3,
    };

    PX4Flow(void);

    bool healthy(void) const;

    virtual bool update(void) = 0;

    static bool update_task(PX4Flow* flow)
    {
        return flow->update();
    }


    float flow_x(void) const;

    float flow_y(void) const;

    uint8_t flow_quality(void) const;

    float velocity_x(void) const;

    float velocity_y(void) const;

    float velocity_z(void) const;

    float ground_distance(void) const;

    float last_update_s(void) const;

protected:
    void rotate_raw_values(orientation_t orientation, float flow_x_raw, float flow_y_raw, float velocity_x_raw, float velocity_y_raw);

protected:
    float               flow_x_;                    
    float               flow_y_;                    
    uint8_t             flow_quality_;              
    float               velocity_x_;                
    float               velocity_y_;                
    float               velocity_z_;                
    float               ground_distance_;           
    Buffer_T<3,float>   ground_distance_buffer_;    
    float               last_update_s_;             
    bool                is_healthy_;                
};

#endif /* PX4FLOW_HPP_ */