altb_pmic / Mbed 2 deprecated Test_optical_flow_PX4

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp

Committer:
altb2
Date:
2019-08-21
Revision:
1:562a583eb77c
Parent:
0:4b02060af95b
Child:
3:e03714326b83

File content as of revision 1:562a583eb77c:

#include "mbed.h"
#include "PX4Flow.h"

#define INTEGRAL false

DigitalOut myled(LED1);
//I2C i2c(PA_10,PA_9);
I2C i2c(PC_9, PA_8);
Serial pc(SERIAL_TX, SERIAL_RX);
PX4Flow PX4(i2c,pc);



int main()
{
    i2c.frequency(400000);
    pc.baud(2000000);
    while(1) {

if(1){
        if(PX4.update()) {
            //pc.printf("Frame Count: %4.0d\t", PX4.frame_count());
 //           pc.printf("Pixel Flow X Sum: %d\t", -PX4.pixel_flow_y_sum());
 //           pc.printf("Pixel Flow Y Sum: %d\t", -PX4.pixel_flow_x_sum());
            pc.printf("Flow Comp. M X.: %4d\t", -PX4.flow_comp_m_y());
            pc.printf("Flow Comp. M Y.: %4d\t", -PX4.flow_comp_m_x());
            pc.printf("Quality: %d\t", PX4.qual());
            pc.printf("Gyro X: %d\t", PX4.gyro_x_rate());
            pc.printf("Gyro Y: %d\t", PX4.gyro_y_rate());
            pc.printf("Gyro Z: %d\t", PX4.gyro_z_rate());
            //pc.printf("Sonar Timestamp: %3.d\t", PX4.sonar_timestamp());
            pc.printf("z: %.3f\t", float(PX4.ground_distance())/1000);
            pc.printf("\r\n");
        } else {
            pc.printf("TimeOut\r\n");
        }
}
else
{
        if(PX4.update_integral()) {
        //    pc.printf("Frame Count: %3.0d\t", PX4.frame_count_since_last_readout());
            pc.printf("Pixel Flow X Integral: %3.0d\t", PX4.pixel_flow_x_integral());
            pc.printf("Pixel Flow Y Integral: %3.0d\t", PX4.pixel_flow_y_integral());
            pc.printf("Gyro X Rate: %3.0d\t", PX4.gyro_x_rate_integral());
            pc.printf("Gyro Y Rate: %3.0d\t", PX4.gyro_y_rate_integral());
            pc.printf("Gyro Z Rate: %3.0d\t", PX4.gyro_z_rate_integral());
            pc.printf("Quality: %3.0d\t", PX4.quality_integral());
            pc.printf("Sonar Timestamp: %10.d\t", PX4.sonar_timestamp_integral());
            pc.printf("Ground Distance: %3.d\t", PX4.ground_distance_integral());
            pc.printf("Gyro Temperature: %3.d\t", PX4.gyro_temperature());
            pc.printf("Integration Timespan: %8.0d\t", PX4.integration_timespan());
            pc.printf("\r\n");

        } else {
            pc.printf("TimeOut\r\n");
        }
}
        wait(0.025  );
    }
}