def refresh(self):
'''
Refreshes the optical flow reading.
'''
self._refreshed = True
# Grab bytes from the device
bytes = self.dev.read(_BUFSIZE)
# Check for MAVLINK messages in bytes
MAVLinkParser.process(self, bytes)
def refresh(self):
'''
Refreshes the optical flow reading.
'''
self._refreshed = True
# Grab bytes from the device
bytes = self.dev.read(_BUFSIZE)
# Check for MAVLINK messages in bytes
MAVLinkParser.process(self, bytes)
def __init__(self, port):
'''
Creates a new PX4Flow object on the specified port.
'''
# Baud rate is unspecified
self.dev = serial.Serial(port)
# Create MAVLink object for parsing
MAVLinkParser.__init__(self, self, MSG_OPTICAL_FLOW)
# Require refresh before first reading
self._refreshed = False
def __init__(self, port):
'''
Creates a new PX4Flow object on the specified port.
'''
# Baud rate is unspecified
self.dev = serial.Serial(port)
# Create MAVLink object for parsing
MAVLinkParser.__init__(self, self, MSG_OPTICAL_FLOW)
# Require refresh before first reading
self._refreshed = False
def getQuality(self):
'''
Returns quality in percent.
'''
self._check_refreshed()
return MAVLinkParser.unpack_uint8(self, 25)
def getGroundDistance(self):
'''
Returns ground distance (height) in meters.
'''
self._check_refreshed()
return MAVLinkParser.unpack1(self, 'f', 16, 20)
def getFlowComp(self):
'''
Returns computed X,Y in meters.
'''
self._check_refreshed()
return MAVLinkParser.unpack(self, 'ff', 8, 16, 2)
def getFlow(self):
'''
Returns raw sensor X,Y.
'''
self._check_refreshed()
return MAVLinkParser.unpack(self, 'hh', 20, 24, 2)
def getTime(self):
'''
Returns current time in microseconds.
'''
self._check_refreshed()
return MAVLinkParser.unpack1(self, 'Q', 0, 8)
def getQuality(self):
'''
Returns quality in percent.
'''
self._check_refreshed()
return MAVLinkParser.unpack_uint8(self, 25)
def getGroundDistance(self):
'''
Returns ground distance (height) in meters.
'''
self._check_refreshed()
return MAVLinkParser.unpack1(self, 'f', 16, 20)
def getFlowComp(self):
'''
Returns computed X,Y in meters.
'''
self._check_refreshed()
return MAVLinkParser.unpack(self, 'ff', 8, 16, 2)
def getFlow(self):
'''
Returns raw sensor X,Y.
'''
self._check_refreshed()
return MAVLinkParser.unpack(self, 'hh', 20, 24, 2)
def getTime(self):
'''
Returns current time in microseconds.
'''
self._check_refreshed()
return MAVLinkParser.unpack1(self, 'Q', 0, 8)
