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AP_Proximity: always use 8 sectors and fix ignore areas

zr-v5.1
Randy Mackay 5 years ago
parent
37f2fc3ffe
commit
1d6519af72
14 changed files with 79 additions and 362 deletions
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  1. 8
      libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp
  2. 126
      libraries/AP_Proximity/AP_Proximity_Backend.cpp
  3. 26
      libraries/AP_Proximity/AP_Proximity_Backend.h
  4. 70
      libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
  5. 2
      libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
  6. 75
      libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.cpp
  7. 2
      libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.h
  8. 12
      libraries/AP_Proximity/AP_Proximity_MAV.cpp
  9. 8
      libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp
  10. 72
      libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
  11. 2
      libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
  12. 2
      libraries/AP_Proximity/AP_Proximity_SITL.cpp
  13. 16
      libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
  14. 20
      libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp

8
libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp
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@ -38,10 +38,6 @@ void AP_Proximity_AirSimSITL::update(void) @@ -38,10 +38,6 @@ void AP_Proximity_AirSimSITL::update(void)
memset(_angle, 0, sizeof(_angle));
memset(_distance, 0, sizeof(_distance));
// only use 8 sectors to match RPLidar
const uint8_t nsectors = MIN(8, PROXIMITY_SECTORS_MAX);
const uint16_t degrees_per_sector = 360 / nsectors;
for (uint16_t i=0; i<points.length; i++) {
Vector3f &point = points.data[i];
if (point.is_zero()) {
@ -49,7 +45,7 @@ void AP_Proximity_AirSimSITL::update(void) @@ -49,7 +45,7 @@ void AP_Proximity_AirSimSITL::update(void)
}
float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x)));
uint16_t angle_rounded = uint16_t(angle_deg+0.5);
uint8_t sector = wrap_360(angle_rounded + 22.5f) / degrees_per_sector;
const uint8_t sector = convert_angle_to_sector(angle_rounded);
if (!_distance_valid[sector] || PROXIMITY_MAX_RANGE < _distance[sector]) {
_distance_valid[sector] = true;
const Vector2f v = Vector2f(point.x, point.y);
@ -61,7 +57,7 @@ void AP_Proximity_AirSimSITL::update(void) @@ -61,7 +57,7 @@ void AP_Proximity_AirSimSITL::update(void)
#if 0
printf("npoints=%u\n", points.length);
for (uint16_t i=0; i<nsectors; i++) {
for (uint16_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
printf("sector[%u] ang=%.1f dist=%.1f\n", i, _angle[i], _distance[i]);
}
#endif

126
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -36,12 +36,10 @@ AP_Proximity_Backend::AP_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity @@ -36,12 +36,10 @@ AP_Proximity_Backend::AP_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity
// get distance in meters in a particular direction in degrees (0 is forward, angles increase in the clockwise direction)
bool AP_Proximity_Backend::get_horizontal_distance(float angle_deg, float &distance) const
{
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
if (_distance_valid[sector]) {
distance = _distance[sector];
return true;
}
const uint8_t sector = convert_angle_to_sector(angle_deg);
if (_distance_valid[sector]) {
distance = _distance[sector];
return true;
}
return false;
}
@ -54,7 +52,7 @@ bool AP_Proximity_Backend::get_closest_object(float& angle_deg, float &distance) @@ -54,7 +52,7 @@ bool AP_Proximity_Backend::get_closest_object(float& angle_deg, float &distance)
uint8_t sector = 0;
// check all sectors for shorter distance
for (uint8_t i=0; i<_num_sectors; i++) {
for (uint8_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
if (_distance_valid[i]) {
if (!sector_found || (_distance[i] < _distance[sector])) {
sector = i;
@ -73,14 +71,14 @@ bool AP_Proximity_Backend::get_closest_object(float& angle_deg, float &distance) @@ -73,14 +71,14 @@ bool AP_Proximity_Backend::get_closest_object(float& angle_deg, float &distance)
// get number of objects, used for non-GPS avoidance
uint8_t AP_Proximity_Backend::get_object_count() const
{
return _num_sectors;
return PROXIMITY_NUM_SECTORS;
}
// get an object's angle and distance, used for non-GPS avoidance
// returns false if no angle or distance could be returned for some reason
bool AP_Proximity_Backend::get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const
{
if (object_number < _num_sectors && _distance_valid[object_number]) {
if (object_number < PROXIMITY_NUM_SECTORS && _distance_valid[object_number]) {
angle_deg = _angle[object_number];
distance = _distance[object_number];
return true;
@ -93,7 +91,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist @@ -93,7 +91,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
{
// exit immediately if we have no good ranges
bool valid_distances = false;
for (uint8_t i=0; i<_num_sectors; i++) {
for (uint8_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
if (_distance_valid[i]) {
valid_distances = true;
break;
@ -113,7 +111,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist @@ -113,7 +111,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
}
// cycle through all sectors filling in distances
for (uint8_t i=0; i<_num_sectors; i++) {
for (uint8_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
if (_distance_valid[i]) {
// convert angle to orientation
int16_t orientation = static_cast<int16_t>(_angle[i] * (PROXIMITY_MAX_DIRECTION / 360.0f));
@ -149,7 +147,7 @@ const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points) @@ -149,7 +147,7 @@ const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points)
// check at least one sector has valid data, if not, exit
bool some_valid = false;
for (uint8_t i=0; i<_num_sectors; i++) {
for (uint8_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
if (_distance_valid[i]) {
some_valid = true;
break;
@ -161,7 +159,7 @@ const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points) @@ -161,7 +159,7 @@ const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points)
}
// return boundary points
num_points = _num_sectors;
num_points = PROXIMITY_NUM_SECTORS;
return _boundary_point;
}
@ -169,8 +167,8 @@ const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points) @@ -169,8 +167,8 @@ const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points)
// should be called if the sector_middle_deg or _setor_width_deg arrays are changed
void AP_Proximity_Backend::init_boundary()
{
for (uint8_t sector=0; sector < _num_sectors; sector++) {
float angle_rad = radians((float)_sector_middle_deg[sector]+(float)_sector_width_deg[sector]/2.0f);
for (uint8_t sector=0; sector < PROXIMITY_NUM_SECTORS; sector++) {
float angle_rad = radians((float)_sector_middle_deg[sector]+(PROXIMITY_SECTOR_WIDTH_DEG/2.0f));
_sector_edge_vector[sector].x = cosf(angle_rad) * 100.0f;
_sector_edge_vector[sector].y = sinf(angle_rad) * 100.0f;
_boundary_point[sector] = _sector_edge_vector[sector] * PROXIMITY_BOUNDARY_DIST_DEFAULT;
@ -183,7 +181,7 @@ void AP_Proximity_Backend::init_boundary() @@ -183,7 +181,7 @@ void AP_Proximity_Backend::init_boundary()
void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, const bool push_to_OA_DB)
{
// sanity check
if (sector >= _num_sectors) {
if (sector >= PROXIMITY_NUM_SECTORS) {
return;
}
@ -193,7 +191,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons @@ -193,7 +191,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons
// find adjacent sector (clockwise)
uint8_t next_sector = sector + 1;
if (next_sector >= _num_sectors) {
if (next_sector >= PROXIMITY_NUM_SECTORS) {
next_sector = 0;
}
@ -217,7 +215,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons @@ -217,7 +215,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons
}
// repeat for edge between sector and previous sector
uint8_t prev_sector = (sector == 0) ? _num_sectors-1 : sector-1;
uint8_t prev_sector = (sector == 0) ? PROXIMITY_NUM_SECTORS-1 : sector-1;
shortest_distance = PROXIMITY_BOUNDARY_DIST_DEFAULT;
if (_distance_valid[prev_sector] && _distance_valid[sector]) {
shortest_distance = MIN(_distance[prev_sector], _distance[sector]);
@ -229,7 +227,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons @@ -229,7 +227,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons
_boundary_point[prev_sector] = _sector_edge_vector[prev_sector] * shortest_distance;
// if the sector counter-clockwise from the previous sector has an invalid distance, set boundary to create a cup like boundary
uint8_t prev_sector_ccw = (prev_sector == 0) ? _num_sectors-1 : prev_sector-1;
uint8_t prev_sector_ccw = (prev_sector == 0) ? PROXIMITY_NUM_SECTORS - 1 : prev_sector - 1;
if (!_distance_valid[prev_sector_ccw]) {
_boundary_point[prev_sector_ccw] = _sector_edge_vector[prev_sector_ccw] * shortest_distance;
}
@ -241,97 +239,23 @@ void AP_Proximity_Backend::set_status(AP_Proximity::Status status) @@ -241,97 +239,23 @@ void AP_Proximity_Backend::set_status(AP_Proximity::Status status)
state.status = status;
}
bool AP_Proximity_Backend::convert_angle_to_sector(float angle_degrees, uint8_t &sector) const
{
// sanity check angle
if (angle_degrees > 360.0f || angle_degrees < -180.0f) {
return false;
}
// convert to 0 ~ 360
if (angle_degrees < 0.0f) {
angle_degrees += 360.0f;
}
bool closest_found = false;
uint8_t closest_sector;
float closest_angle;
// search for which sector angle_degrees falls into
for (uint8_t i = 0; i < _num_sectors; i++) {
float angle_diff = fabsf(wrap_180(_sector_middle_deg[i] - angle_degrees));
// record if closest
if (!closest_found || angle_diff < closest_angle) {
closest_found = true;
closest_sector = i;
closest_angle = angle_diff;
}
if (fabsf(angle_diff) <= _sector_width_deg[i] / 2.0f) {
sector = i;
return true;
}
}
// angle_degrees might have been within a gap between sectors
if (closest_found) {
sector = closest_sector;
return true;
}
return false;
}
// get ignore area info
uint8_t AP_Proximity_Backend::get_ignore_area_count() const
{
// count number of ignore sectors
uint8_t count = 0;
for (uint8_t i=0; i < PROXIMITY_MAX_IGNORE; i++) {
if (frontend._ignore_width_deg[i] != 0) {
count++;
}
}
return count;
}
// get next ignore angle
bool AP_Proximity_Backend::get_ignore_area(uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const
uint8_t AP_Proximity_Backend::convert_angle_to_sector(float angle_degrees) const
{
if (index >= PROXIMITY_MAX_IGNORE) {
return false;
}
angle_deg = frontend._ignore_angle_deg[index];
width_deg = frontend._ignore_width_deg[index];
return true;
return wrap_360(angle_degrees + (PROXIMITY_SECTOR_WIDTH_DEG * 0.5f)) / 45.0f;
}
// retrieve start or end angle of next ignore area (i.e. closest ignore area higher than the start_angle)
// start_or_end = 0 to get start, 1 to retrieve end
bool AP_Proximity_Backend::get_next_ignore_start_or_end(uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const
// check if a reading should be ignored because it falls into an ignore area
bool AP_Proximity_Backend::ignore_reading(uint16_t angle_deg) const
{
bool found = false;
int16_t smallest_angle_diff = 0;
int16_t smallest_angle_start = 0;
// check angle vs each ignore area
for (uint8_t i=0; i < PROXIMITY_MAX_IGNORE; i++) {
if (frontend._ignore_width_deg[i] != 0) {
int16_t offset = start_or_end == 0 ? -frontend._ignore_width_deg[i] : +frontend._ignore_width_deg[i];
int16_t ignore_start_angle = wrap_360(frontend._ignore_angle_deg[i] + offset/2.0f);
int16_t ang_diff = wrap_360(ignore_start_angle - start_angle);
if (!found || ang_diff < smallest_angle_diff) {
smallest_angle_diff = ang_diff;
smallest_angle_start = ignore_start_angle;
found = true;
if (abs(angle_deg - frontend._ignore_width_deg[i]) <= (frontend._ignore_width_deg[i]/2)) {
return true;
}
}
}
if (found) {
ignore_start = smallest_angle_start;
}
return found;
return false;
}
// returns true if database is ready to be pushed to and all cached data is ready

26
libraries/AP_Proximity/AP_Proximity_Backend.h
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@ -19,7 +19,8 @@ @@ -19,7 +19,8 @@
#include "AP_Proximity.h"
#include <AP_Common/Location.h>
#define PROXIMITY_SECTORS_MAX 12 // maximum number of sectors
#define PROXIMITY_NUM_SECTORS 8 // number of sectors
#define PROXIMITY_SECTOR_WIDTH_DEG 45.0f // width of sectors in degrees
#define PROXIMITY_BOUNDARY_DIST_MIN 0.6f // minimum distance for a boundary point. This ensures the object avoidance code doesn't think we are outside the boundary.
#define PROXIMITY_BOUNDARY_DIST_DEFAULT 100 // if we have no data for a sector, boundary is placed 100m out
@ -71,7 +72,7 @@ protected: @@ -71,7 +72,7 @@ protected:
void set_status(AP_Proximity::Status status);
// find which sector a given angle falls into
bool convert_angle_to_sector(float angle_degrees, uint8_t &sector) const;
uint8_t convert_angle_to_sector(float angle_degrees) const;
// initialise the boundary and sector_edge_vector array used for object avoidance
// should be called if the sector_middle_deg or _setor_width_deg arrays are changed
@ -82,10 +83,9 @@ protected: @@ -82,10 +83,9 @@ protected:
// the boundary point is set to the shortest distance found in the two adjacent sectors, this is a conservative boundary around the vehicle
void update_boundary_for_sector(const uint8_t sector, const bool push_to_OA_DB);
// get ignore area info
uint8_t get_ignore_area_count() const;
bool get_ignore_area(uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const;
bool get_next_ignore_start_or_end(uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const;
// check if a reading should be ignored because it falls into an ignore area
// angles should be in degrees and in the range of 0 to 360
bool ignore_reading(uint16_t angle_deg) const;
// database helpers. all angles are in degrees
bool database_prepare_for_push(Location &current_loc, float &current_heading);
@ -96,16 +96,14 @@ protected: @@ -96,16 +96,14 @@ protected:
AP_Proximity::Proximity_State &state; // reference to this instances state
// sectors
uint8_t _num_sectors = PROXIMITY_MAX_DIRECTION;
uint16_t _sector_middle_deg[PROXIMITY_SECTORS_MAX] = {0, 45, 90, 135, 180, 225, 270, 315, 0, 0, 0, 0}; // middle angle of each sector
uint8_t _sector_width_deg[PROXIMITY_SECTORS_MAX] = {45, 45, 45, 45, 45, 45, 45, 45, 0, 0, 0, 0}; // width (in degrees) of each sector
const uint16_t _sector_middle_deg[PROXIMITY_NUM_SECTORS] = {0, 45, 90, 135, 180, 225, 270, 315}; // middle angle of each sector
// sensor data
float _angle[PROXIMITY_SECTORS_MAX]; // angle to closest object within each sector
float _distance[PROXIMITY_SECTORS_MAX]; // distance to closest object within each sector
bool _distance_valid[PROXIMITY_SECTORS_MAX]; // true if a valid distance received for each sector
float _angle[PROXIMITY_NUM_SECTORS]; // angle to closest object within each sector
float _distance[PROXIMITY_NUM_SECTORS]; // distance to closest object within each sector
bool _distance_valid[PROXIMITY_NUM_SECTORS]; // true if a valid distance received for each sector
// fence boundary
Vector2f _sector_edge_vector[PROXIMITY_SECTORS_MAX]; // vector for right-edge of each sector, used to speed up calculation of boundary
Vector2f _boundary_point[PROXIMITY_SECTORS_MAX]; // bounding polygon around the vehicle calculated conservatively for object avoidance
Vector2f _sector_edge_vector[PROXIMITY_NUM_SECTORS]; // vector for right-edge of each sector, used to speed up calculation of boundary
Vector2f _boundary_point[PROXIMITY_NUM_SECTORS]; // bounding polygon around the vehicle calculated conservatively for object avoidance
};

70
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
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@ -73,10 +73,8 @@ void AP_Proximity_LightWareSF40C::update(void) @@ -73,10 +73,8 @@ void AP_Proximity_LightWareSF40C::update(void)
// initialise sensor
void AP_Proximity_LightWareSF40C::initialise()
{
// initialise sectors
if (!_sector_initialised) {
init_sectors();
}
// initialise boundary
init_boundary();
// exit immediately if we've sent initialisation requests in the last second
uint32_t now_ms = AP_HAL::millis();
@ -137,66 +135,6 @@ void AP_Proximity_LightWareSF40C::restart_sensor() @@ -137,66 +135,6 @@ void AP_Proximity_LightWareSF40C::restart_sensor()
_sensor_state.output_rate = 0;
}
// initialise sector angles using user defined ignore areas
void AP_Proximity_LightWareSF40C::init_sectors()
{
// use defaults if no ignore areas defined
uint8_t ignore_area_count = get_ignore_area_count();
if (ignore_area_count == 0) {
_sector_initialised = true;
return;
}
uint8_t sector = 0;
for (uint8_t i=0; i<ignore_area_count; i++) {
// get ignore area info
uint16_t ign_area_angle;
uint8_t ign_area_width;
if (get_ignore_area(i, ign_area_angle, ign_area_width)) {
// calculate how many degrees of space we have between this end of this ignore area and the start of the end
int16_t start_angle, end_angle;
get_next_ignore_start_or_end(1, ign_area_angle, start_angle);
get_next_ignore_start_or_end(0, start_angle, end_angle);
int16_t degrees_to_fill = wrap_360(end_angle - start_angle);
// divide up the area into sectors
while ((degrees_to_fill > 0) && (sector < PROXIMITY_SECTORS_MAX)) {
uint16_t sector_size;
if (degrees_to_fill >= 90) {
// set sector to maximum of 45 degrees
sector_size = 45;
} else if (degrees_to_fill > 45) {
// use half the remaining area to optimise size of this sector and the next
sector_size = degrees_to_fill / 2.0f;
} else {
// 45 degrees or less are left so put it all into the next sector
sector_size = degrees_to_fill;
}
// record the sector middle and width
_sector_middle_deg[sector] = wrap_360(start_angle + sector_size / 2.0f);
_sector_width_deg[sector] = sector_size;
// move onto next sector
start_angle += sector_size;
sector++;
degrees_to_fill -= sector_size;
}
}
}
// set num sectors
_num_sectors = sector;
// re-initialise boundary because sector locations have changed
init_boundary();
// record success
_sector_initialised = true;
}
// send message to sensor
void AP_Proximity_LightWareSF40C::send_message(MessageID msgid, bool write, const uint8_t *payload, uint16_t payload_len)
{
@ -404,8 +342,8 @@ void AP_Proximity_LightWareSF40C::process_message() @@ -404,8 +342,8 @@ void AP_Proximity_LightWareSF40C::process_message()
const uint16_t idx = 14 + (i * 2);
const int16_t dist_cm = (int16_t)buff_to_uint16(_msg.payload[idx], _msg.payload[idx+1]);
const float angle_deg = wrap_360((point_start_index + i) * angle_inc_deg * angle_sign + angle_correction);
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
if (!ignore_reading(angle_deg)) {
const uint8_t sector = convert_angle_to_sector(angle_deg);
if (sector != _last_sector) {
// update boundary used for avoidance
if (_last_sector != UINT8_MAX) {

2
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
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@ -28,7 +28,6 @@ private: @@ -28,7 +28,6 @@ private:
// initialise sensor
void initialise();
void init_sectors();
// restart sensor and re-init our state
void restart_sensor();
@ -106,7 +105,6 @@ private: @@ -106,7 +105,6 @@ private:
// internal variables
AP_HAL::UARTDriver *_uart; // uart for communicating with sensor
bool _sector_initialised; // true if sectors have been initialised
uint32_t _last_request_ms; // system time of last request
uint32_t _last_reply_ms; // system time of last valid reply
uint32_t _last_restart_ms; // system time we restarted the sensor

75
libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.cpp
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@ -101,72 +101,11 @@ bool AP_Proximity_LightWareSF40C_v09::initialise() @@ -101,72 +101,11 @@ bool AP_Proximity_LightWareSF40C_v09::initialise()
}
return false;
}
// initialise sectors
if (!_sector_initialised) {
init_sectors();
return false;
}
return true;
}
// initialise sector angles using user defined ignore areas
void AP_Proximity_LightWareSF40C_v09::init_sectors()
{
// use defaults if no ignore areas defined
uint8_t ignore_area_count = get_ignore_area_count();
if (ignore_area_count == 0) {
_sector_initialised = true;
return;
}
uint8_t sector = 0;
for (uint8_t i=0; i<ignore_area_count; i++) {
// get ignore area info
uint16_t ign_area_angle;
uint8_t ign_area_width;
if (get_ignore_area(i, ign_area_angle, ign_area_width)) {
// calculate how many degrees of space we have between this end of this ignore area and the start of the end
int16_t start_angle, end_angle;
get_next_ignore_start_or_end(1, ign_area_angle, start_angle);
get_next_ignore_start_or_end(0, start_angle, end_angle);
int16_t degrees_to_fill = wrap_360(end_angle - start_angle);
// divide up the area into sectors
while ((degrees_to_fill > 0) && (sector < PROXIMITY_SECTORS_MAX)) {
uint16_t sector_size;
if (degrees_to_fill >= 90) {
// set sector to maximum of 45 degrees
sector_size = 45;
} else if (degrees_to_fill > 45) {
// use half the remaining area to optimise size of this sector and the next
sector_size = degrees_to_fill / 2.0f;
} else {
// 45 degrees or less are left so put it all into the next sector
sector_size = degrees_to_fill;
}
// record the sector middle and width
_sector_middle_deg[sector] = wrap_360(start_angle + sector_size / 2.0f);
_sector_width_deg[sector] = sector_size;
// move onto next sector
start_angle += sector_size;
sector++;
degrees_to_fill -= sector_size;
}
}
}
// set num sectors
_num_sectors = sector;
// re-initialise boundary because sector locations have changed
// initialise sectors
init_boundary();
// record success
_sector_initialised = true;
return true;
}
// set speed of rotating motor
@ -281,15 +220,15 @@ bool AP_Proximity_LightWareSF40C_v09::send_request_for_distance() @@ -281,15 +220,15 @@ bool AP_Proximity_LightWareSF40C_v09::send_request_for_distance()
// increment sector
_last_sector++;
if (_last_sector >= _num_sectors) {
if (_last_sector >= PROXIMITY_NUM_SECTORS) {
_last_sector = 0;
}
// prepare request
char request_str[16];
snprintf(request_str, sizeof(request_str), "?TS,%u,%u\r\n",
MIN(_sector_width_deg[_last_sector], 999),
MIN(_sector_middle_deg[_last_sector], 999));
(unsigned int)PROXIMITY_SECTOR_WIDTH_DEG,
_sector_middle_deg[_last_sector]);
uart->write(request_str);
@ -410,8 +349,8 @@ bool AP_Proximity_LightWareSF40C_v09::process_reply() @@ -410,8 +349,8 @@ bool AP_Proximity_LightWareSF40C_v09::process_reply()
{
float angle_deg = strtof(element_buf[0], NULL);
float distance_m = strtof(element_buf[1], NULL);
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
if (!ignore_reading(angle_deg)) {
const uint8_t sector = convert_angle_to_sector(angle_deg);
_angle[sector] = angle_deg;
_distance[sector] = distance_m;
_distance_valid[sector] = is_positive(distance_m);

2
libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.h
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@ -36,7 +36,6 @@ private: @@ -36,7 +36,6 @@ private:
// initialise sensor (returns true if sensor is successfully initialised)
bool initialise();
void init_sectors();
void set_motor_speed(bool on_off);
void set_motor_direction();
void set_forward_direction();
@ -93,5 +92,4 @@ private: @@ -93,5 +92,4 @@ private:
uint8_t _motor_speed; // motor speed as reported by lidar
uint8_t _motor_direction = 99; // motor direction as reported by lidar
int16_t _forward_direction = 999; // forward direction as reported by lidar
bool _sector_initialised = false;
};

12
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -108,11 +108,9 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg) @@ -108,11 +108,9 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
const bool database_ready = database_prepare_for_push(current_loc, current_heading);
// initialise updated array and proximity sector angles (to closest object) and distances
bool sector_updated[_num_sectors];
float sector_width_half[_num_sectors];
for (uint8_t i = 0; i < _num_sectors; i++) {
bool sector_updated[PROXIMITY_NUM_SECTORS];
for (uint8_t i = 0; i < PROXIMITY_NUM_SECTORS; i++) {
sector_updated[i] = false;
sector_width_half[i] = _sector_width_deg[i] * 0.5f;
_angle[i] = _sector_middle_deg[i];
_distance[i] = MAX_DISTANCE;
}
@ -133,10 +131,10 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg) @@ -133,10 +131,10 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
const float mid_angle = wrap_360((float)j * increment + yaw_correction);
// iterate over proximity sectors
for (uint8_t i = 0; i < _num_sectors; i++) {
for (uint8_t i = 0; i < PROXIMITY_NUM_SECTORS; i++) {
float angle_diff = fabsf(wrap_180(_sector_middle_deg[i] - mid_angle));
// update distance array sector with shortest distance from message
if ((angle_diff <= sector_width_half[i]) && (packet_distance_m < _distance[i])) {
if ((angle_diff <= (PROXIMITY_SECTOR_WIDTH_DEG * 0.5f)) && (packet_distance_m < _distance[i])) {
_distance[i] = packet_distance_m;
_angle[i] = mid_angle;
sector_updated[i] = true;
@ -150,7 +148,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg) @@ -150,7 +148,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
}
// update proximity sectors validity and boundary point
for (uint8_t i = 0; i < _num_sectors; i++) {
for (uint8_t i = 0; i < PROXIMITY_NUM_SECTORS; i++) {
_distance_valid[i] = (_distance[i] >= _distance_min) && (_distance[i] <= _distance_max);
if (sector_updated[i]) {
update_boundary_for_sector(i, false);

8
libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp
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@ -41,10 +41,6 @@ void AP_Proximity_MorseSITL::update(void) @@ -41,10 +41,6 @@ void AP_Proximity_MorseSITL::update(void)
memset(_angle, 0, sizeof(_angle));
memset(_distance, 0, sizeof(_distance));
// only use 8 sectors to match RPLidar
const uint8_t nsectors = MIN(8, PROXIMITY_SECTORS_MAX);
const uint16_t degrees_per_sector = 360 / nsectors;
for (uint16_t i=0; i<points.length; i++) {
Vector3f &point = points.data[i];
float &range = ranges.data[i];
@ -54,7 +50,7 @@ void AP_Proximity_MorseSITL::update(void) @@ -54,7 +50,7 @@ void AP_Proximity_MorseSITL::update(void)
}
float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x)));
uint16_t angle_rounded = uint16_t(angle_deg+0.5);
uint8_t sector = wrap_360(angle_rounded + 22.5f) / degrees_per_sector;
const uint8_t sector = convert_angle_to_sector(angle_rounded);
if (!_distance_valid[sector] || range < _distance[sector]) {
_distance_valid[sector] = true;
_distance[sector] = range;
@ -65,7 +61,7 @@ void AP_Proximity_MorseSITL::update(void) @@ -65,7 +61,7 @@ void AP_Proximity_MorseSITL::update(void)
#if 0
printf("npoints=%u\n", points.length);
for (uint16_t i=0; i<nsectors; i++) {
for (uint16_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
printf("sector[%u] ang=%.1f dist=%.1f\n", i, _angle[i], _distance[i]);
}
#endif

72
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
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@ -130,15 +130,12 @@ float AP_Proximity_RPLidarA2::distance_min() const @@ -130,15 +130,12 @@ float AP_Proximity_RPLidarA2::distance_min() const
bool AP_Proximity_RPLidarA2::initialise()
{
// initialise sectors
if (!_sector_initialised) {
init_sectors();
return false;
}
// initialise boundary
init_boundary();
if (!_initialised) {
reset_rplidar(); // set to a known state
Debug(1, "LIDAR initialised");
return true;
}
return true;
@ -159,65 +156,6 @@ void AP_Proximity_RPLidarA2::reset_rplidar() @@ -159,65 +156,6 @@ void AP_Proximity_RPLidarA2::reset_rplidar()
}
// initialise sector angles using user defined ignore areas, left same as SF40C
void AP_Proximity_RPLidarA2::init_sectors()
{
// use defaults if no ignore areas defined
const uint8_t ignore_area_count = get_ignore_area_count();
if (ignore_area_count == 0) {
_sector_initialised = true;
return;
}
uint8_t sector = 0;
for (uint8_t i=0; i<ignore_area_count; i++) {
// get ignore area info
uint16_t ign_area_angle;
uint8_t ign_area_width;
if (get_ignore_area(i, ign_area_angle, ign_area_width)) {
// calculate how many degrees of space we have between this end of this ignore area and the start of the end
int16_t start_angle, end_angle;
get_next_ignore_start_or_end(1, ign_area_angle, start_angle);
get_next_ignore_start_or_end(0, start_angle, end_angle);
int16_t degrees_to_fill = wrap_360(end_angle - start_angle);
// divide up the area into sectors
while ((degrees_to_fill > 0) && (sector < PROXIMITY_SECTORS_MAX)) {
uint16_t sector_size;
if (degrees_to_fill >= 90) {
// set sector to maximum of 45 degrees
sector_size = 45;
} else if (degrees_to_fill > 45) {
// use half the remaining area to optimise size of this sector and the next
sector_size = degrees_to_fill / 2.0f;
} else {
// 45 degrees or less are left so put it all into the next sector
sector_size = degrees_to_fill;
}
// record the sector middle and width
_sector_middle_deg[sector] = wrap_360(start_angle + sector_size / 2.0f);
_sector_width_deg[sector] = sector_size;
// move onto next sector
start_angle += sector_size;
sector++;
degrees_to_fill -= sector_size;
}
}
}
// set num sectors
_num_sectors = sector;
// re-initialise boundary because sector locations have changed
init_boundary();
// record success
_sector_initialised = true;
}
// set Lidar into SCAN mode
void AP_Proximity_RPLidarA2::set_scan_mode()
{
@ -403,8 +341,8 @@ void AP_Proximity_RPLidarA2::parse_response_data() @@ -403,8 +341,8 @@ void AP_Proximity_RPLidarA2::parse_response_data()
Debug(2, " D%02.2f A%03.1f Q%02d", distance_m, angle_deg, quality);
#endif
_last_distance_received_ms = AP_HAL::millis();
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
if (!ignore_reading(angle_deg)) {
const uint8_t sector = convert_angle_to_sector(angle_deg);
if (distance_m > distance_min()) {
if (_last_sector == sector) {
if (_distance_m_last > distance_m) {

2
libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
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@ -69,7 +69,6 @@ private: @@ -69,7 +69,6 @@ private:
// initialise sensor (returns true if sensor is successfully initialised)
bool initialise();
void init_sectors();
void set_scan_mode();
// send request for something from sensor
@ -87,7 +86,6 @@ private: @@ -87,7 +86,6 @@ private:
bool _information_data;
bool _resetted;
bool _initialised;
bool _sector_initialised;
uint8_t _payload_length;
uint8_t _cnt;

2
libraries/AP_Proximity/AP_Proximity_SITL.cpp
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@ -62,7 +62,7 @@ void AP_Proximity_SITL::update(void) @@ -62,7 +62,7 @@ void AP_Proximity_SITL::update(void)
_distance_valid[last_sector] = false;
}
last_sector++;
if (last_sector >= _num_sectors) {
if (last_sector >= PROXIMITY_NUM_SECTORS) {
last_sector = 0;
}
} else {

16
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
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@ -119,13 +119,11 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data() @@ -119,13 +119,11 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data()
// process reply
void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_t distance_cm)
{
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
_angle[sector] = angle_deg;
_distance[sector] = ((float) distance_cm) / 1000;
_distance_valid[sector] = distance_cm != 0xffff;
_last_distance_received_ms = AP_HAL::millis();
// update boundary used for avoidance
update_boundary_for_sector(sector, true);
}
const uint8_t sector = convert_angle_to_sector(angle_deg);
_angle[sector] = angle_deg;
_distance[sector] = ((float) distance_cm) / 1000;
_distance_valid[sector] = distance_cm != 0xffff;
_last_distance_received_ms = AP_HAL::millis();
// update boundary used for avoidance
update_boundary_for_sector(sector, true);
}

20
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
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@ -168,15 +168,13 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data() @@ -168,15 +168,13 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
// process reply
void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_cm)
{
uint8_t sector;
if (convert_angle_to_sector(angle_deg, sector)) {
_angle[sector] = angle_deg;
_distance[sector] = ((float) distance_cm) / 1000;
//check for target too far, target too close and sensor not connected
_distance_valid[sector] = distance_cm != 0xffff && distance_cm != 0x0000 && distance_cm != 0x0001;
_last_distance_received_ms = AP_HAL::millis();
// update boundary used for avoidance
update_boundary_for_sector(sector, true);
}
const uint8_t sector = convert_angle_to_sector(angle_deg);
_angle[sector] = angle_deg;
_distance[sector] = ((float) distance_cm) / 1000;
//check for target too far, target too close and sensor not connected
_distance_valid[sector] = distance_cm != 0xffff && distance_cm != 0x0000 && distance_cm != 0x0001;
_last_distance_received_ms = AP_HAL::millis();
// update boundary used for avoidance
update_boundary_for_sector(sector, true);
}

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