altb_pmic / Mbed 2 deprecated Test_optical_flow_PX4

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Dependencies:   mbed

main.cpp@2:ee9896ee7a7a, 2019-08-21 (annotated)

Committer:
pmic
Date:
Wed Aug 21 13:23:33 2019 +0000
Revision:
2:ee9896ee7a7a
Parent:
0:4b02060af95b 
added comments

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 0:4b02060af95b 4 #define INTEGRAL
altb2 0:4b02060af95b 5
altb2 0:4b02060af95b 6 DigitalOut myled(LED1);
altb2 0:4b02060af95b 7 I2C i2c(PA_10,PA_9);
altb2 0:4b02060af95b 8 Serial pc(SERIAL_TX, SERIAL_RX);
altb2 0:4b02060af95b 9 PX4Flow PX4(i2c,pc);
altb2 0:4b02060af95b 10
altb2 0:4b02060af95b 11
altb2 0:4b02060af95b 12
altb2 0:4b02060af95b 13 int main()
altb2 0:4b02060af95b 14 {
altb2 0:4b02060af95b 15 i2c.frequency(400000);
altb2 0:4b02060af95b 16 pc.baud(2000000);
altb2 0:4b02060af95b 17 while(1) {
altb2 0:4b02060af95b 18
altb2 0:4b02060af95b 19 #ifndef INTEGRAL
altb2 0:4b02060af95b 20 if(PX4.update()) {
altb2 0:4b02060af95b 21 pc.printf("Frame Count: %4.0d\t", PX4.frame_count());
altb2 0:4b02060af95b 22 pc.printf("Pixel Flow X Sum: %d\t", PX4.pixel_flow_x_sum());
altb2 0:4b02060af95b 23 pc.printf("Pixel Flow Y Sum: %d\t", PX4.pixel_flow_y_sum());
altb2 0:4b02060af95b 24 pc.printf("Flow Comp. M X.: %4.0d\t", PX4.flow_comp_m_x());
altb2 0:4b02060af95b 25 pc.printf("Flow Comp. M Y.: %4.0d\t", PX4.flow_comp_m_y());
altb2 0:4b02060af95b 26 pc.printf("Quality: %3.1d\t", PX4.qual());
altb2 0:4b02060af95b 27 pc.printf("Gyro X Rate: %4.0d\t", PX4.gyro_x_rate());
altb2 0:4b02060af95b 28 pc.printf("Gyro Y Rate: %4.0d\t", PX4.gyro_y_rate());
altb2 0:4b02060af95b 29 pc.printf("Gyro Z Rate: %4.0d\t", PX4.gyro_z_rate());
altb2 0:4b02060af95b 30 pc.printf("Sonar Timestamp: %3.d\t", PX4.sonar_timestamp());
altb2 0:4b02060af95b 31 pc.printf("Ground Distance: %.3f\t", float(PX4.ground_distance())/1000);
altb2 0:4b02060af95b 32 pc.printf("\r\n");
altb2 0:4b02060af95b 33 } else {
altb2 0:4b02060af95b 34 pc.printf("TimeOut\r\n");
altb2 0:4b02060af95b 35 }
altb2 0:4b02060af95b 36 #else
altb2 0:4b02060af95b 37 if(PX4.update_integral()) {
altb2 0:4b02060af95b 38 pc.printf("Frame Count: %3.0d\t", PX4.frame_count_since_last_readout());
altb2 0:4b02060af95b 39 pc.printf("Pixel Flow X Integral: %3.0d\t", PX4.pixel_flow_x_integral());
altb2 0:4b02060af95b 40 pc.printf("Pixel Flow Y Integral: %3.0d\t", PX4.pixel_flow_y_integral());
altb2 0:4b02060af95b 41 pc.printf("Gyro X Rate: %3.0d\t", PX4.gyro_x_rate_integral());
altb2 0:4b02060af95b 42 pc.printf("Gyro Y Rate: %3.0d\t", PX4.gyro_y_rate_integral());
altb2 0:4b02060af95b 43 pc.printf("Gyro Z Rate: %3.0d\t", PX4.gyro_z_rate_integral());
altb2 0:4b02060af95b 44 pc.printf("Quality: %3.0d\t", PX4.quality_integral());
altb2 0:4b02060af95b 45 pc.printf("Sonar Timestamp: %10.d\t", PX4.sonar_timestamp_integral());
altb2 0:4b02060af95b 46 pc.printf("Ground Distance: %3.d\t", PX4.ground_distance_integral());
altb2 0:4b02060af95b 47 pc.printf("Gyro Temperature: %3.d\t", PX4.gyro_temperature());
altb2 0:4b02060af95b 48 pc.printf("Integration Timespan: %8.0d\t", PX4.integration_timespan());
altb2 0:4b02060af95b 49 pc.printf("\r\n");
altb2 0:4b02060af95b 50
altb2 0:4b02060af95b 51 } else {
altb2 0:4b02060af95b 52 pc.printf("TimeOut\r\n");
altb2 0:4b02060af95b 53 }
altb2 0:4b02060af95b 54 #endif
pmic 2:ee9896ee7a7a 55 wait(0.01);
altb2 0:4b02060af95b 56 }
altb2 0:4b02060af95b 57 }
altb2 0:4b02060af95b 58