diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp index c42b135ec6..6b174b7b2d 100644 --- a/libraries/AP_Proximity/AP_Proximity.cpp +++ b/libraries/AP_Proximity/AP_Proximity.cpp @@ -395,16 +395,6 @@ bool AP_Proximity::get_upward_distance(float &distance) const return get_upward_distance(primary_instance, distance); } -// set alt as read from dowward facing rangefinder. Tilt is already adjusted for. -void AP_Proximity::set_rangefinder_alt(bool use, bool healthy, float alt_cm) -{ - if (!valid_instance(primary_instance)) { - return; - } - // store alt at the backend - drivers[primary_instance]->set_rangefinder_alt(use, healthy, alt_cm); -} - #if HAL_LOGGING_ENABLED // Write proximity sensor distances void AP_Proximity::log() diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h index e3508bce69..e76110da77 100644 --- a/libraries/AP_Proximity/AP_Proximity.h +++ b/libraries/AP_Proximity/AP_Proximity.h @@ -155,6 +155,9 @@ public: // 3D boundary AP_Proximity_Boundary_3D boundary; + // Check if Obstacle defined by body-frame yaw and pitch is near ground + bool check_obstacle_near_ground(float pitch, float yaw, float distance) const; + protected: // parameters for backends @@ -174,6 +177,17 @@ private: AP_Int8 _raw_log_enable; // enable logging raw distances AP_Int8 _ign_gnd_enable; // true if land detection should be enabled AP_Float _filt_freq; // cutoff frequency for low pass filter + + // get alt from rangefinder in meters. This reading is corrected for vehicle tilt + bool get_rangefinder_alt(float &alt_m) const; + + struct RangeFinderState { + bool use; // true if enabled + bool healthy; // true if we can trust the altitude from the rangefinder + int16_t alt_cm; // tilt compensated altitude (in cm) from rangefinder + uint32_t last_downward_update_ms; // last update ms + } _rangefinder_state; + }; namespace AP { diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.cpp b/libraries/AP_Proximity/AP_Proximity_Backend.cpp index 2c758a7a24..cd18fcdd29 100644 --- a/libraries/AP_Proximity/AP_Proximity_Backend.cpp +++ b/libraries/AP_Proximity/AP_Proximity_Backend.cpp @@ -16,13 +16,9 @@ #include "AP_Proximity_Backend.h" #if HAL_PROXIMITY_ENABLED -#include #include #include #include -#include - -extern const AP_HAL::HAL& hal; /* base class constructor. @@ -85,69 +81,7 @@ bool AP_Proximity_Backend::ignore_reading(float pitch, float yaw, float distance } // check if obstacle is near land - return check_obstacle_near_ground(pitch, yaw, distance_m); -} - -// store rangefinder values -void AP_Proximity_Backend::set_rangefinder_alt(bool use, bool healthy, float alt_cm) -{ - _last_downward_update_ms = AP_HAL::millis(); - _rangefinder_use = use; - _rangefinder_healthy = healthy; - _rangefinder_alt = alt_cm * 0.01f; -} - -// get alt from rangefinder in meters -bool AP_Proximity_Backend::get_rangefinder_alt(float &alt_m) const -{ - if (!_rangefinder_use || !_rangefinder_healthy) { - // range finder is not healthy - return false; - } - - const uint32_t dt = AP_HAL::millis() - _last_downward_update_ms; - if (dt > PROXIMITY_ALT_DETECT_TIMEOUT_MS) { - return false; - } - - // readings are healthy - alt_m = _rangefinder_alt; - return true; -} - -// Check if Obstacle defined by body-frame yaw and pitch is near ground -bool AP_Proximity_Backend::check_obstacle_near_ground(float pitch, float yaw, float distance) const -{ - if (!frontend._ign_gnd_enable) { - return false; - } - if (!hal.util->get_soft_armed()) { - // don't run this feature while vehicle is disarmed, otherwise proximity data will not show up on GCS - return false; - } - if ((pitch > 90.0f) || (pitch < -90.0f)) { - // sanity check on pitch - return false; - } - // Assume object is yaw and pitch bearing and distance meters away from the vehicle - Vector3f object_3D; - object_3D.offset_bearing(wrap_180(yaw), (pitch * -1.0f), distance); - const Matrix3f body_to_ned = AP::ahrs().get_rotation_body_to_ned(); - const Vector3f rotated_object_3D = body_to_ned * object_3D; - - float alt = FLT_MAX; - if (!get_rangefinder_alt(alt)) { - return false; - } - - if (rotated_object_3D.z > -0.5f) { - // obstacle is at the most 0.5 meters above vehicle - if ((alt - PROXIMITY_GND_DETECT_THRESHOLD) < rotated_object_3D.z) { - // obstacle is near or below ground - return true; - } - } - return false; + return frontend.check_obstacle_near_ground(pitch, yaw, distance_m); } // returns true if database is ready to be pushed to and all cached data is ready diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.h b/libraries/AP_Proximity/AP_Proximity_Backend.h index 8bd2e784b1..42f092c374 100644 --- a/libraries/AP_Proximity/AP_Proximity_Backend.h +++ b/libraries/AP_Proximity/AP_Proximity_Backend.h @@ -19,9 +19,6 @@ #if HAL_PROXIMITY_ENABLED #include -#define PROXIMITY_GND_DETECT_THRESHOLD 1.0f // set ground detection threshold to be 1 meters -#define PROXIMITY_ALT_DETECT_TIMEOUT_MS 500 // alt readings should arrive within this much time - class AP_Proximity_Backend { public: @@ -45,9 +42,6 @@ public: // handle mavlink messages virtual void handle_msg(const mavlink_message_t &msg) {} - // store rangefinder values - void set_rangefinder_alt(bool use, bool healthy, float alt_cm); - protected: // set status and update valid_count @@ -64,12 +58,6 @@ protected: bool ignore_reading(float pitch, float yaw, float distance_m, bool check_for_ign_area = true) const; bool ignore_reading(float yaw, float distance_m, bool check_for_ign_area = true) const { return ignore_reading(0.0f, yaw, distance_m, check_for_ign_area); } - // get alt from rangefinder in meters. This reading is corrected for vehicle tilt - bool get_rangefinder_alt(float &alt_m) const; - - // Check if Obstacle defined by body-frame yaw and pitch is near ground - bool check_obstacle_near_ground(float pitch, float yaw, float distance) const; - // database helpers. All angles are in degrees static bool database_prepare_for_push(Vector3f ¤t_pos, Matrix3f &body_to_ned); // Note: "angle" refers to yaw (in body frame) towards the obstacle @@ -79,12 +67,6 @@ protected: }; static void database_push(float angle, float pitch, float distance, uint32_t timestamp_ms, const Vector3f ¤t_pos, const Matrix3f &body_to_ned); - // used for ground detection - uint32_t _last_downward_update_ms; - bool _rangefinder_use; - bool _rangefinder_healthy; - float _rangefinder_alt; - AP_Proximity &frontend; AP_Proximity::Proximity_State &state; // reference to this instances state AP_Proximity_Params ¶ms; // parameters for this backend diff --git a/libraries/AP_Proximity/AP_Proximity_Utils.cpp b/libraries/AP_Proximity/AP_Proximity_Utils.cpp new file mode 100644 index 0000000000..966f868a79 --- /dev/null +++ b/libraries/AP_Proximity/AP_Proximity_Utils.cpp @@ -0,0 +1,91 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ + +#include "AP_Proximity.h" +#include +#include +#include + +#if HAL_PROXIMITY_ENABLED + +#define PROXIMITY_GND_DETECT_THRESHOLD 1.0f // set ground detection threshold to be 1 meters +#define PROXIMITY_ALT_DETECT_TIMEOUT_MS 500 // alt readings should arrive within this much time + +extern const AP_HAL::HAL& hal; + +// set alt as read from downward facing rangefinder. Tilt is already adjusted for. +void AP_Proximity::set_rangefinder_alt(bool use, bool healthy, float alt_cm) +{ + _rangefinder_state.use = use; + _rangefinder_state.healthy = healthy; + _rangefinder_state.alt_cm = alt_cm; + _rangefinder_state.last_downward_update_ms = AP_HAL::millis(); +} + +// get alt from rangefinder in meters +bool AP_Proximity::get_rangefinder_alt(float &alt_m) const +{ + if (!_rangefinder_state.use || !_rangefinder_state.healthy) { + // range finder is not healthy + return false; + } + + const uint32_t dt = AP_HAL::millis() - _rangefinder_state.last_downward_update_ms; + if (dt > PROXIMITY_ALT_DETECT_TIMEOUT_MS) { + return false; + } + + // readings are healthy + alt_m = _rangefinder_state.alt_cm * 0.01f; + return true; +} + +// Check if Obstacle defined by body-frame yaw and pitch is near ground +bool AP_Proximity::check_obstacle_near_ground(float pitch, float yaw, float distance) const +{ + if (!_ign_gnd_enable) { + return false; + } + if (!hal.util->get_soft_armed()) { + // don't run this feature while vehicle is disarmed, otherwise proximity data will not show up on GCS + return false; + } + if ((pitch > 90.0f) || (pitch < -90.0f)) { + // sanity check on pitch + return false; + } + // Assume object is yaw and pitch bearing and distance meters away from the vehicle + Vector3f object_3D; + object_3D.offset_bearing(wrap_180(yaw), (pitch * -1.0f), distance); + const Matrix3f body_to_ned = AP::ahrs().get_rotation_body_to_ned(); + const Vector3f rotated_object_3D = body_to_ned * object_3D; + + float alt = FLT_MAX; + if (!get_rangefinder_alt(alt)) { + return false; + } + + if (rotated_object_3D.z > -0.5f) { + // obstacle is at the most 0.5 meters above vehicle + if ((alt - PROXIMITY_GND_DETECT_THRESHOLD) < rotated_object_3D.z) { + // obstacle is near or below ground + return true; + } + } + return false; +} + + +#endif // HAL_PROXIMITY_ENABLED