Cheerson CX-OF low cost optical flow sensor testing

ppoirier · January 22, 2019, 10:15am

In order to force the sensor on these board, you have to copy and paste line 108 to line 122

ArduPilot/ardupilot/blob/master/libraries/AP_OpticalFlow/OpticalFlow.cpp#L108


    // possibly have pixhart on external SPI
    backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_SP01) {
    backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
}
if (backend == nullptr) {
    backend = AP_OpticalFlow_PX4Flow::detect(*this);
}
if (backend == nullptr) {
    backend = AP_OpticalFlow_CXOF::detect(*this);
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_SITL(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
backend = new AP_OpticalFlow_Onboard(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend = AP_OpticalFlow_PX4Flow::detect(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
#elif defined(HAL_HAVE_PIXARTFLOW_SPI)