Changeset 165 in flair-src for trunk/demos/OpticalFlow/uav

Timestamp:

Mar 7, 2017, 8:26:53 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs

Location:

trunk/demos/OpticalFlow/uav/src

Files:

• DemoOpticalFlow.cpp (modified) (3 diffs)
• DemoOpticalFlow.h (modified) (2 diffs)

trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.cpp

@@ -15 +15 @@
 #include <Uav.h>
 #include <Camera.h>
+#include <V4LCamera.h>
 #include <CvtColor.h>
 #include <OpticalFlow.h>
@@ -123 +124 @@
   uav->GetAhrs()->AddPlot(customReferenceOrientation,DataPlot::Yellow);
   AddDataToControlLawLog(customReferenceOrientation);
+  
+  flagCameraLost=false;
 }
 
@@ -196 +199 @@
 }
 
+void DemoOpticalFlow::ExtraSecurityCheck(void) {
+  if(GetUav()->GetType()=="hds_x8") {
+    if(((V4LCamera*)GetUav()->GetVerticalCamera())->HasProblems() && !flagCameraLost) {
+      flagCameraLost = true;
+      Thread::Err("Camera lost\n");
+      SafeStop();
+      Land();
+    }
+  }
+}
+
 DemoOpticalFlow::~DemoOpticalFlow() {
 }

trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.h

@@ -50 +50 @@
         void ExtraCheckJoystick(void);
     void ExtraCheckPushButton(void);
+    void ExtraSecurityCheck(void);
         const flair::core::AhrsData *GetReferenceOrientation(void);
 
@@ -69 +70 @@
         flair::filter::LowPassFilter* opticalFlowSpeed;
         flair::filter::LowPassFilter* opticalFlowAcceleration;
+        bool flagCameraLost;
 };