AP_OpticalFlow:Add upflow Tx(T1,T1plus,T2 .e.g) optical flow laser two-in-one modules and lc30x(302-8b,306) modules support.

[uavfly]

Add upflow Tx(T1,T1plus,T2 .e.g) optical flow laser two-in-one module support,fix upflow lc30x(302-3c,302-8b,306 .e.g)can't init bugs.

[uavfly]

The optical flow and laser data of the module are transmitted back through MavLink on the QGC ground station.

[uavfly]

The system I use is ubuntu22.04, and the flight control board I use is pixhawk6c. After modification, I can use optical flow modules such as upflow T1 T1plus T2 LC302-3c LC302-8B LC306 LC307.

[uavfly]

The data sheet and usage documentation of the module are in the repository organized by our company: https://github.com/Upixels-China/Upixels_Optical_flow.git

[rmackay9]

Hi @uavfly,

Thanks for the PR!

Here's a few items that should be corrected in order to get it merged to master:

1. Rebase on master to remove the "Merge branch" commits
2. Squash the "fix bugs" commit into the preceding commit
3. Update the commit titles to be prefixed with "AP_OpticalFlow: ". If you peek at our list of commits you'll see that we always prefix our commits with the subsystem or directory affected because this makes backporting easier
4. If possible remove calls to hal.scheduler->delay()
5. check if the big CRC table can be replaced with one of our existing crc methods in AP_Math

Thanks!

[uavfly]

Hi @uavfly,

Thanks for the PR!

Here's a few items that should be corrected in order to get it merged to master:

1. Rebase on master to remove the "Merge branch" commits
2. Squash the "fix bugs" commit into the preceding commit
3. Update the commit titles to be prefixed with "AP_OpticalFlow: ". If you peek at our list of commits you'll see that we always prefix our commits with the subsystem or directory affected because this makes backporting easier
4. If possible remove calls to hal.scheduler->delay()
5. check if the big CRC table can be replaced with one of our existing crc methods in AP_Math

Thanks!

Thank you very much for your help. I will optimize my code and correct it. But I need to clarify that the long array upflow_Sensor.cfg in the AP_SpticalFlow-UPFLOW-LC30x.cpp file is not crc, but the data that the module must send for initialization.

[uavfly]

Hi @uavfly,
Thanks for the PR!
Here's a few items that should be corrected in order to get it merged to master:

1. Rebase on master to remove the "Merge branch" commits
2. Squash the "fix bugs" commit into the preceding commit
3. Update the commit titles to be prefixed with "AP_OpticalFlow: ". If you peek at our list of commits you'll see that we always prefix our commits with the subsystem or directory affected because this makes backporting easier
4. If possible remove calls to hal.scheduler->delay()
5. check if the big CRC table can be replaced with one of our existing crc methods in AP_Math

Thanks!

Thank you very much for your help. I will optimize my code and correct it. But I need to clarify that the long array upflow_Sensor.cfg in the AP_SpticalFlow-UPFLOW-LC30x.cpp file is not crc, but the data that the module must send for initialization.

And I will write, upload, and update wiki documentation to help more people use this type of optical flow module.