Randy Mackay
3 years ago
committed by
Andrew Tridgell
12 changed files with 273 additions and 190 deletions
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#include "AP_Proximity_Params.h" |
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Proximity_Params::var_info[] = { |
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// 0 should not be used
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// @Param: _TYPE
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// @DisplayName: Proximity type
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// @Description: What type of proximity sensor is connected
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// @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Proximity_Params, type, 0, AP_PARAM_FLAG_ENABLE), |
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// @Param: _ORIENT
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// @DisplayName: Proximity sensor orientation
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// @Description: Proximity sensor orientation
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// @Values: 0:Default,1:Upside Down
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// @User: Standard
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AP_GROUPINFO("_ORIENT", 2, AP_Proximity_Params, orientation, 0), |
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// @Param: _YAW_CORR
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// @DisplayName: Proximity sensor yaw correction
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// @Description: Proximity sensor yaw correction
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// @Units: deg
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// @Range: -180 180
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// @User: Standard
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AP_GROUPINFO("_YAW_CORR", 3, AP_Proximity_Params, yaw_correction, 0), |
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// @Param: _IGN_ANG1
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// @DisplayName: Proximity sensor ignore angle 1
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// @Description: Proximity sensor ignore angle 1
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG1", 4, AP_Proximity_Params, ignore_angle_deg[0], 0), |
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// @Param: _IGN_WID1
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// @DisplayName: Proximity sensor ignore width 1
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// @Description: Proximity sensor ignore width 1
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID1", 5, AP_Proximity_Params, ignore_width_deg[0], 0), |
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// @Param: _IGN_ANG2
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// @DisplayName: Proximity sensor ignore angle 2
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// @Description: Proximity sensor ignore angle 2
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG2", 6, AP_Proximity_Params, ignore_angle_deg[1], 0), |
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// @Param: _IGN_WID2
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// @DisplayName: Proximity sensor ignore width 2
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// @Description: Proximity sensor ignore width 2
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID2", 7, AP_Proximity_Params, ignore_width_deg[1], 0), |
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// @Param: _IGN_ANG3
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// @DisplayName: Proximity sensor ignore angle 3
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// @Description: Proximity sensor ignore angle 3
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG3", 8, AP_Proximity_Params, ignore_angle_deg[2], 0), |
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// @Param: _IGN_WID3
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// @DisplayName: Proximity sensor ignore width 3
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// @Description: Proximity sensor ignore width 3
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID3", 9, AP_Proximity_Params, ignore_width_deg[2], 0), |
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// @Param: _IGN_ANG4
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// @DisplayName: Proximity sensor ignore angle 4
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// @Description: Proximity sensor ignore angle 4
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG4", 10, AP_Proximity_Params, ignore_angle_deg[3], 0), |
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// @Param: _IGN_WID4
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// @DisplayName: Proximity sensor ignore width 4
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// @Description: Proximity sensor ignore width 4
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID4", 11, AP_Proximity_Params, ignore_width_deg[3], 0), |
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// @Param: _IGN_ANG5
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// @DisplayName: Proximity sensor ignore angle 5
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// @Description: Proximity sensor ignore angle 5
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG5", 12, AP_Proximity_Params, ignore_angle_deg[4], 0), |
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// @Param: _IGN_WID5
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// @DisplayName: Proximity sensor ignore width 5
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// @Description: Proximity sensor ignore width 5
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID5", 13, AP_Proximity_Params, ignore_width_deg[4], 0), |
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// @Param: _IGN_ANG6
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// @DisplayName: Proximity sensor ignore angle 6
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// @Description: Proximity sensor ignore angle 6
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG6", 14, AP_Proximity_Params, ignore_angle_deg[5], 0), |
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// @Param: _IGN_WID6
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// @DisplayName: Proximity sensor ignore width 6
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// @Description: Proximity sensor ignore width 6
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID6", 15, AP_Proximity_Params, ignore_width_deg[5], 0), |
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// @Param: _MIN
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// @DisplayName: Proximity minimum range
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// @Description: Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
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// @Units: m
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// @Range: 0 500
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// @User: Advanced
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AP_GROUPINFO("_MIN", 16, AP_Proximity_Params, min_m, 0.0f), |
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// @Param: _MAX
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// @DisplayName: Proximity maximum range
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// @Description: Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
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// @Units: m
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// @Range: 0 500
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// @User: Advanced
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AP_GROUPINFO("_MAX", 17, AP_Proximity_Params, max_m, 0.0f), |
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AP_GROUPEND |
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}; |
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AP_Proximity_Params::AP_Proximity_Params(void) { |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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@ -0,0 +1,27 @@
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#pragma once |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Math/AP_Math.h> |
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#define PROXIMITY_MAX_IGNORE 6 // up to six areas can be ignored
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class AP_Proximity_Params { |
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public: |
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static const struct AP_Param::GroupInfo var_info[]; |
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AP_Proximity_Params(void); |
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/* Do not allow copies */ |
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AP_Proximity_Params(const AP_Proximity_Params &other) = delete; |
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AP_Proximity_Params &operator=(const AP_Proximity_Params&) = delete; |
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AP_Int8 type; // type of sensor
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AP_Int8 orientation; // orientation (e.g. right-side-up or upside-down)
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AP_Int16 yaw_correction; // yaw correction in degrees
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AP_Int16 ignore_angle_deg[PROXIMITY_MAX_IGNORE]; // angle (in degrees) of area that should be ignored by sensor (i.e. leg shows up)
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AP_Int8 ignore_width_deg[PROXIMITY_MAX_IGNORE]; // width of beam (in degrees) that should be ignored
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AP_Float max_m; // maximum range in meters
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AP_Float min_m; // minimum range in meters
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}; |
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