eschnou / arduino-px4flow-i2c Goto Github PK

When the Wire.requestFrom() returns, the I2C transaction has completely finished and the received data is waiting in a buffer in the Wire library.

There is no need to wait for something after a call to Wire.requestFrom().

The function wait() in the file "arduino-px4flow-i2c/PX4Flow/PX4Flow.cpp" is not needed.

You can write your code like this:

  // request 22 bytes from the module
  Wire.requestFrom(PX4FLOW_ADDRESS, 22);    

  // read the data
  frame.frame_count = read16();
  ...

or something like this:

  // request 22 bytes from the module
  Wire.requestFrom(PX4FLOW_ADDRESS, 22);    

  if (wire.available() != 22) {
      return false;
  }

  // read the data
  frame.frame_count = read16();
  ...

Also draining the buffer (removing any remaining data) is not needed. The Wire library uses packets of data and starts with a cleared buffer before doing a I2C transaction.
There was a bug in the library for the SAMD processors that a buffer was not cleared, but that bug has been solved a year and a half ago.

Hi, I have been trying to use the pose_estimate example to estimate the position of my vehicle but sometimes the problem is that the velocity_x and velocity_y returns 'nan' and I can not figure out why. Can you please help me? Thanks a ton in advance!

can i get position x,y or velocity vx,vy without the ultrasonic ?

Hi
Could i not use the built in sonar and use an external one to get the Ground distance data?
so i can replace the sensor.quality_integral with the readings from the external sonar in the pose_estimate.ino code

also should i only take when the readings when the quality is more than 100 as sometime it hit zero
if (quality > 100)

It seems like you havent initialize the type in pose_estimate.ino
` x_rate = sensor.gyro_x_rate_integral() / 10.0f; // mrad

y_rate = sensor.gyro_y_rate_integral() / 10.0f;       // mrad

flow_x = sensor.pixel_flow_x_integral() / 10.0f;      // mrad

flow_y = sensor.pixel_flow_y_integral() / 10.0f;      // mrad  `

Hi there,

Im trying to add px4flow(Lucas-Kanade method custom firmware) to pixhawk(3.3rc1) I think, Its work :)

My question:

1.Use USB connect PIX : I can in Mission Plannner's user items "opt_m_x" and "opt_m_y" for optical flow .

2.Use Battery powered : Can't in Mission Plannner's user items "opt_m_x" and "opt_m_y" for optical flow.

But only reset PIX . I can in Mission Plannner's user items "opt_m_x" and "opt_m_y" for optical flow.

the ultrasonic MB1043 works alone properly but when it's put in the px4flow chip it doesn't give ground distance