…ow), this implementation needs to be extended with image pyramid with ~3 levels and reimplemented with special instructions and fixed point for bilinear filtering

…frames but depending on the amount of motion blur and lens defocus it can be also much higher. Important: Gyro compensation not implemented currently, the corresponding parameter has no influence. To maintain 400 Hz refresh rate the flow is computed on 9 points in the image in a 3x3 grid, the size of the patch is 5x5 pixels. The code is not yet optimized, feel free to do so.

…x flow value, the clamping should happen on the gyro rates not on the final flow output

- Merged klt_flow2 with master by adding compute_klt() function to flow.c
- Added NUM_BLOCK_KLT to flow.c for different block size
- Change of FRAME_SIZE in flow.c in compute_klt() to int
- Changing between compute_flow and compute_klt done in main.c by commenting one or the other

Conflicts:
	src/flow.c
	src/main.c

- Added visual representation of flow in QGroundcontrol when activating flow image (for debugging)

moved quality measurement to new file quality_measurement.c
added iqr (interquartile range) quality
fixed klt flow image

…rate modules. Not tested yet.

- fix timer functions. do not use exclusive access instructions.
- fix time accumulation data type.

…nup of code and small optimisations.

- implement median filtering of flow results
- huge code cleanup

Conflicts:
	inc/flow.h
	src/flow.c
	src/main.c

- Fixed Gyro compensation
- Added global parameters for result filtering
- small fixes in result accumulator

- Changed min amount of valid results from 2 to 3

- Added global parameter PARAM_USB_SEND_QUAL_0. It sets whether to send packets with 0 quality or not.

…which were used earlier, but are not needed anymore.

…ded experimental minimum determinant parameter.

… into feature/combine-algorithms

…her a patch is a good patch.

…m takes too long. parameter tweaking.

…rate.

…algorithms

The following optimisations have been performed:
- Increase KLT number of blocks from 9 to 16.
- Decrease KLT patch size from 9 x 9 pixel to 7 x 7 pixel.
- Move KLT image preprocessing function out of the actual flow calculation function.
- Increase CPU speed to 192MHz to achieve higher frame rates.

Conflicts:
	src/communication.c
	src/main.c
	src/settings.c

…aremeter maximum length.

- Combined the two algorithms (block matching and KLT) into one code-base and added parameter to switch between them.
- Unified quality measurement and raw flow result combination for both algorithms.
- Tweaked KLT parameters to improve the performance while beeing able to finish within one frame.
- KLT is now the preferred algorithm because it outperforms the block matching algorithm in almost all situations.
- Huge improvements in detecting when the flow algorithm produces wrong output. If the quality is > 0 the output can now be trusted.
- Switched from using mean or complicated histogram filters for combining the raw flow measurements to a more robust median based algorithm.
- Improved and unified result accumulation code used to reduce data-rate.
- Implemented gyro compensation for all algorithms.
- Added proper flow indication in the debug image.
- Cleaned up the code to make it look more finished.
  - Moved timer functions into their own module.
  - Cleaned up parameters.
  - Deleted unused features.
  - Unified code style in flow.c
  - Romved duplicated code.

…to the datasheet naming. fixed writing to wrong register

… off by default.

…cks that are used.

…entation of init function.

…isation.

…ith detailed documentation from the datasheet.

- implemented context switch logic
- implemented image parameter simulation

…almost ready to test.

- changed KLT flow to use its own image struct which stores the preprocessed data.
- implemented buffer management in camera.

Conflicts:
	src/main.c

…ith where the frame starts in the buffer.

…between two DMA transfers.

This resolves all problems with the de-syncing.
Changed back bogus fix in DMA buffer selection.

- switched to 16bit read and write mode to improve context switching time.

…he background.

…lgorithm of the camera module.

- implemented dynamic general sensor parameter update.
- bugfix for corrupt pixel data

…posure algorithm.

…lerance band in exposure algorithm.

…eeded.

- Removed casting from uint32_t to int32_t in timer.c
-(While this compiled fine, I could not test it in QGroundcontrol due to some Windows10 problem. But it should be working)

…KLT algorithm now checks whether the x_rate and y_rate values from the gyro are within bounds of the search area. If not, an empty flow is returned.

- Corrected parameter name in header file.

  * KLT algorithm
  * Exposure control
  * DCMI driver refactor for mode switching

This replaces the descriptor byte arrays from usbd_cdc_core.c

The following changes were made to the descriptor content:
* The device is self-powered
* Don't set flag indicating that it accepts AT commands
* Remove Call Management Functional Descriptor

Timestamp is currently local time; should be replaced with UAVCAN time

On 2.0 HW, set LED color based on OF quality.

…done for new frames.