AP_OpticalFlow: Add initialization support for UPixels UPFLOW optical flow sensor #24187
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| uint8_t recv_buf[3]; | ||
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| //delay 100ms before initialization | ||
| hal.scheduler->delay(100); |
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Not really a fan of delays in the init, this is called from the main thread. However, there are a few existing examples in rangefinder...
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Thank you for your feedback. I understand your concern about latency in the main thread, but this is to ensure the sensor is initialized correctly. It is necessary to wait 100 ms for the sensor to initialize after powering up. However, do you have any suggestions or a more elegant approach?
| // if failed to receive response code, you can start over from 0xAA. | ||
| if ((recv_buf[0] ^ recv_buf[1]) != recv_buf[2]) { | ||
| UPFLOW_INIT_FAILED; | ||
| return; |
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What happens on this early return? We don't call init a second time, so does this mean the sensor never works ?
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What happens on this early return? We don't call init a second time, so does this mean the sensor never works ?
The reason for early return is that if the user inserts the LC302-3C, the sensor will not return any data during the initialization operation, and there is no need to continue the initialization operation. LC302-3C and other sensor versions that do not require initialization will not be affected.
The UPFLOW_INIT_FAILED macro is what I've set during debugging to monitor whether the initialization is successful or not in the ground station.
And I have conducted multiple tests using the Pixhawk 2.4.8 flight controller. For LC306 and LC302-8B, they can be initialized without any issues.
I followed the instructions in the data sheet and modified the code of the Upflow optical flow driver to support LC306 and LC302-8B modules. For more information, please refer to this issue: #23720