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97 lines
3.8 KiB
97 lines
3.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_Proximity_RangeFinder.h" |
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#if HAL_PROXIMITY_ENABLED |
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#include <AP_HAL/AP_HAL.h> |
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#include <ctype.h> |
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#include <stdio.h> |
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#include <AP_RangeFinder/AP_RangeFinder.h> |
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#include <AP_RangeFinder/AP_RangeFinder_Backend.h> |
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// update the state of the sensor |
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void AP_Proximity_RangeFinder::update(void) |
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{ |
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// exit immediately if no rangefinder object |
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const RangeFinder *rngfnd = AP::rangefinder(); |
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if (rngfnd == nullptr) { |
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set_status(AP_Proximity::Status::NoData); |
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return; |
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} |
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uint32_t now = AP_HAL::millis(); |
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// look through all rangefinders |
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for (uint8_t i=0; i < rngfnd->num_sensors(); i++) { |
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AP_RangeFinder_Backend *sensor = rngfnd->get_backend(i); |
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if (sensor == nullptr) { |
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continue; |
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} |
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if (sensor->has_data()) { |
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// check for horizontal range finders |
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if (sensor->orientation() <= ROTATION_YAW_315) { |
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const uint8_t sector = (uint8_t)sensor->orientation(); |
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const float angle = sector * 45; |
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const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle); |
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// distance in meters |
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const float distance = sensor->distance(); |
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_distance_min = sensor->min_distance_cm() * 0.01f; |
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_distance_max = sensor->max_distance_cm() * 0.01f; |
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if ((distance <= _distance_max) && (distance >= _distance_min) && !ignore_reading(angle, distance, false)) { |
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boundary.set_face_attributes(face, angle, distance); |
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// update OA database |
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database_push(angle, distance); |
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} else { |
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boundary.reset_face(face); |
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} |
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_last_update_ms = now; |
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} |
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// check upward facing range finder |
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if (sensor->orientation() == ROTATION_PITCH_90) { |
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int16_t distance_upward = sensor->distance_cm(); |
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int16_t up_distance_min = sensor->min_distance_cm(); |
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int16_t up_distance_max = sensor->max_distance_cm(); |
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if ((distance_upward >= up_distance_min) && (distance_upward <= up_distance_max)) { |
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_distance_upward = distance_upward * 0.01f; |
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} else { |
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_distance_upward = -1.0; // mark an valid reading |
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} |
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_last_upward_update_ms = now; |
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} |
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} |
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} |
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// check for timeout and set health status |
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if ((_last_update_ms == 0 || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) && |
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(_last_upward_update_ms == 0 || (now - _last_upward_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS))) { |
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set_status(AP_Proximity::Status::NoData); |
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} else { |
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set_status(AP_Proximity::Status::Good); |
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} |
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} |
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// get distance upwards in meters. returns true on success |
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bool AP_Proximity_RangeFinder::get_upward_distance(float &distance) const |
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{ |
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if ((AP_HAL::millis() - _last_upward_update_ms <= PROXIMITY_RANGEFIDER_TIMEOUT_MS) && |
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is_positive(_distance_upward)) { |
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distance = _distance_upward; |
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return true; |
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} |
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return false; |
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} |
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#endif // HAL_PROXIMITY_ENABLED
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