From 5f0bac6fe96c9e2a97bb80c85f98c5488b786ae6 Mon Sep 17 00:00:00 2001
From: co3050-12_user <microcart_f2016@iastate.edu>
Date: Wed, 26 Apr 2017 00:19:42 -0500
Subject: [PATCH] wip: fixed a couple issues with opticla flow reading.
---
quad/src/quad_app/control_algorithm.c | 1 -
quad/xsdk_workspace/real_quad/src/hw_impl_zybo_optical_flow.c | 2 +-
quad/xsdk_workspace/real_quad/src/main.c | 4 ++--
3 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 54e1e66d4..00a1fd39e 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -483,7 +483,6 @@ int control_algorithm_init(parameter_t * ps)
//Optical flow
graph_set_param_val(graph, ps->flow_vel_x, CONST_SET, sensor_struct->optical_flow.xVel);
graph_set_param_val(graph, ps->flow_vel_y, CONST_SET, sensor_struct->optical_flow.yVel);
- graph_set_param_val(graph, ps->flow_distance, CONST_SET, sensor_struct->optical_flow.distance);
graph_set_param_val(graph, ps->flow_vel_x_filt, CONST_SET, sensor_struct->optical_flow.xVelFilt);
graph_set_param_val(graph, ps->flow_vel_y_filt, CONST_SET, sensor_struct->optical_flow.yVelFilt);
diff --git a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_optical_flow.c b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_optical_flow.c
index d9a947a4a..d5e94484d 100644
--- a/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_optical_flow.c
+++ b/quad/xsdk_workspace/real_quad/src/hw_impl_zybo_optical_flow.c
@@ -17,7 +17,7 @@ int zybo_optical_flow_read(struct OpticalFlowDriver *self, px4flow_t *of) {
struct I2CDriver *i2c = self->i2c;
int error = 0;
- typedef struct i2c_integral_frame
+ struct i2c_integral_frame
{
uint16_t frame_count_since_last_readout;//number of flow measurements since last I2C readout [#frames]
int16_t pixel_flow_x_integral;//accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000]
diff --git a/quad/xsdk_workspace/real_quad/src/main.c b/quad/xsdk_workspace/real_quad/src/main.c
index 198b48d05..d11f783b9 100644
--- a/quad/xsdk_workspace/real_quad/src/main.c
+++ b/quad/xsdk_workspace/real_quad/src/main.c
@@ -48,7 +48,7 @@ int main()
#ifdef RUN_TESTS
//test_zybo_mio7_led_and_system();
//test_zybo_i2c();
- test_zybo_i2c_imu();
+ //test_zybo_i2c_imu();
//test_zybo_i2c_px4flow();
//test_zybo_i2c_lidar();
//test_zybo_i2c_all();
@@ -56,7 +56,7 @@ int main()
//test_zybo_motors();
//test_zybo_uart();
//test_zybo_axi_timer();
- test_zybo_uart_comm();
+ //test_zybo_uart_comm();
return 0;
#endif
--
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