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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-15 09:47:02 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-15 09:47:02 +0400 |
commit | 955bd402d2fb398fb64c55a885306b7054b55ce0 (patch) | |
tree | 6004b2e661c3a7a8b70030173050eaa3fd135f99 /src/drivers/drv_px4flow.h | |
parent | 3d766575cd013821904832148362e0319dd4eeef (diff) | |
parent | e590d96c0a7aa4a06a36423bae3db42ada226bc5 (diff) | |
download | px4-firmware-955bd402d2fb398fb64c55a885306b7054b55ce0.tar.gz px4-firmware-955bd402d2fb398fb64c55a885306b7054b55ce0.tar.bz2 px4-firmware-955bd402d2fb398fb64c55a885306b7054b55ce0.zip |
Merge branch 'master' into beta_mavlink2
Diffstat (limited to 'src/drivers/drv_px4flow.h')
-rw-r--r-- | src/drivers/drv_px4flow.h | 84 |
1 files changed, 84 insertions, 0 deletions
diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h new file mode 100644 index 000000000..bef02d54e --- /dev/null +++ b/src/drivers/drv_px4flow.h @@ -0,0 +1,84 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Rangefinder driver interface. + */ + +#ifndef _DRV_PX4FLOW_H +#define _DRV_PX4FLOW_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define PX4FLOW_DEVICE_PATH "/dev/px4flow" + +/** + * Optical flow in NED body frame in SI units. + * + * @see http://en.wikipedia.org/wiki/International_System_of_Units + */ +struct px4flow_report { + + uint64_t timestamp; /**< in microseconds since system start */ + + int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ + int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ + float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ + float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ + float ground_distance_m; /**< Altitude / distance to ground in meters */ + uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */ + uint8_t sensor_id; /**< id of the sensor emitting the flow value */ + +}; + +/* + * ObjDev tag for px4flow data. + */ +ORB_DECLARE(optical_flow); + +/* + * ioctl() definitions + * + * px4flow drivers also implement the generic sensor driver + * interfaces from drv_sensor.h + */ + +#define _PX4FLOWIOCBASE (0x7700) +#define __PX4FLOWIOC(_n) (_IOC(_PX4FLOWIOCBASE, _n)) + + +#endif /* _DRV_PX4FLOW_H */ |