altb_pmic / Mbed 2 deprecated Test_optical_flow_PX4

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Dependencies:   mbed

main.cpp@1:562a583eb77c, 2019-08-21 (annotated)

Committer:
altb2
Date:
Wed Aug 21 13:21:41 2019 +0000
Revision:
1:562a583eb77c
Parent:
0:4b02060af95b
Child:
3:e03714326b83
Just log data

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:4b02060af95b 1 #include "mbed.h"
altb2 0:4b02060af95b 2 #include "PX4Flow.h"
altb2 0:4b02060af95b 3
altb2 1:562a583eb77c 4 #define INTEGRAL false
altb2 0:4b02060af95b 5
altb2 0:4b02060af95b 6 DigitalOut myled(LED1);
altb2 1:562a583eb77c 7 //I2C i2c(PA_10,PA_9);
altb2 1:562a583eb77c 8 I2C i2c(PC_9, PA_8);
altb2 0:4b02060af95b 9 Serial pc(SERIAL_TX, SERIAL_RX);
altb2 0:4b02060af95b 10 PX4Flow PX4(i2c,pc);
altb2 0:4b02060af95b 11
altb2 0:4b02060af95b 12
altb2 0:4b02060af95b 13
altb2 0:4b02060af95b 14 int main()
altb2 0:4b02060af95b 15 {
altb2 0:4b02060af95b 16 i2c.frequency(400000);
altb2 0:4b02060af95b 17 pc.baud(2000000);
altb2 0:4b02060af95b 18 while(1) {
altb2 0:4b02060af95b 19
altb2 1:562a583eb77c 20 if(1){
altb2 0:4b02060af95b 21 if(PX4.update()) {
altb2 1:562a583eb77c 22 //pc.printf("Frame Count: %4.0d\t", PX4.frame_count());
altb2 1:562a583eb77c 23 // pc.printf("Pixel Flow X Sum: %d\t", -PX4.pixel_flow_y_sum());
altb2 1:562a583eb77c 24 // pc.printf("Pixel Flow Y Sum: %d\t", -PX4.pixel_flow_x_sum());
altb2 1:562a583eb77c 25 pc.printf("Flow Comp. M X.: %4d\t", -PX4.flow_comp_m_y());
altb2 1:562a583eb77c 26 pc.printf("Flow Comp. M Y.: %4d\t", -PX4.flow_comp_m_x());
altb2 1:562a583eb77c 27 pc.printf("Quality: %d\t", PX4.qual());
altb2 1:562a583eb77c 28 pc.printf("Gyro X: %d\t", PX4.gyro_x_rate());
altb2 1:562a583eb77c 29 pc.printf("Gyro Y: %d\t", PX4.gyro_y_rate());
altb2 1:562a583eb77c 30 pc.printf("Gyro Z: %d\t", PX4.gyro_z_rate());
altb2 1:562a583eb77c 31 //pc.printf("Sonar Timestamp: %3.d\t", PX4.sonar_timestamp());
altb2 1:562a583eb77c 32 pc.printf("z: %.3f\t", float(PX4.ground_distance())/1000);
altb2 0:4b02060af95b 33 pc.printf("\r\n");
altb2 0:4b02060af95b 34 } else {
altb2 0:4b02060af95b 35 pc.printf("TimeOut\r\n");
altb2 0:4b02060af95b 36 }
altb2 1:562a583eb77c 37 }
altb2 1:562a583eb77c 38 else
altb2 1:562a583eb77c 39 {
altb2 0:4b02060af95b 40 if(PX4.update_integral()) {
altb2 1:562a583eb77c 41 // pc.printf("Frame Count: %3.0d\t", PX4.frame_count_since_last_readout());
altb2 0:4b02060af95b 42 pc.printf("Pixel Flow X Integral: %3.0d\t", PX4.pixel_flow_x_integral());
altb2 0:4b02060af95b 43 pc.printf("Pixel Flow Y Integral: %3.0d\t", PX4.pixel_flow_y_integral());
altb2 0:4b02060af95b 44 pc.printf("Gyro X Rate: %3.0d\t", PX4.gyro_x_rate_integral());
altb2 0:4b02060af95b 45 pc.printf("Gyro Y Rate: %3.0d\t", PX4.gyro_y_rate_integral());
altb2 0:4b02060af95b 46 pc.printf("Gyro Z Rate: %3.0d\t", PX4.gyro_z_rate_integral());
altb2 0:4b02060af95b 47 pc.printf("Quality: %3.0d\t", PX4.quality_integral());
altb2 0:4b02060af95b 48 pc.printf("Sonar Timestamp: %10.d\t", PX4.sonar_timestamp_integral());
altb2 0:4b02060af95b 49 pc.printf("Ground Distance: %3.d\t", PX4.ground_distance_integral());
altb2 0:4b02060af95b 50 pc.printf("Gyro Temperature: %3.d\t", PX4.gyro_temperature());
altb2 0:4b02060af95b 51 pc.printf("Integration Timespan: %8.0d\t", PX4.integration_timespan());
altb2 0:4b02060af95b 52 pc.printf("\r\n");
altb2 0:4b02060af95b 53
altb2 0:4b02060af95b 54 } else {
altb2 0:4b02060af95b 55 pc.printf("TimeOut\r\n");
altb2 0:4b02060af95b 56 }
altb2 1:562a583eb77c 57 }
altb2 1:562a583eb77c 58 wait(0.025 );
altb2 0:4b02060af95b 59 }
altb2 0:4b02060af95b 60 }
altb2 0:4b02060af95b 61