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80 lines
2.4 KiB
80 lines
2.4 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_RangeFinder_MAVLink.h" |
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#if AP_RANGEFINDER_MAVLINK_ENABLED |
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#include <AP_HAL/AP_HAL.h> |
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/* |
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Set the distance based on a MAVLINK message |
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*/ |
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void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg) |
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{ |
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mavlink_distance_sensor_t packet; |
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mavlink_msg_distance_sensor_decode(&msg, &packet); |
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// only accept distances for the configured orentation |
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if (packet.orientation == orientation()) { |
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state.last_reading_ms = AP_HAL::millis(); |
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distance_cm = packet.current_distance; |
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_max_distance_cm = packet.max_distance; |
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_min_distance_cm = packet.min_distance; |
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sensor_type = (MAV_DISTANCE_SENSOR)packet.type; |
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} |
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} |
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int16_t AP_RangeFinder_MAVLink::max_distance_cm() const |
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{ |
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if (_max_distance_cm == 0 && _min_distance_cm == 0) { |
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// we assume if both of these are zero that we ignore both |
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return params.max_distance_cm; |
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} |
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if (params.max_distance_cm < _max_distance_cm) { |
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return params.max_distance_cm; |
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} |
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return _max_distance_cm; |
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} |
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int16_t AP_RangeFinder_MAVLink::min_distance_cm() const |
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{ |
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if (_max_distance_cm == 0 && _min_distance_cm == 0) { |
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// we assume if both of these are zero that we ignore both |
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return params.min_distance_cm; |
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} |
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if (params.min_distance_cm > _min_distance_cm) { |
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return params.min_distance_cm; |
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} |
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return _min_distance_cm; |
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} |
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/* |
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update the state of the sensor |
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*/ |
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void AP_RangeFinder_MAVLink::update(void) |
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{ |
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//Time out on incoming data; if we don't get new |
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//data in 500ms, dump it |
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if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) { |
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set_status(RangeFinder::Status::NoData); |
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state.distance_m = 0.0f; |
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} else { |
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state.distance_m = distance_cm * 0.01f; |
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update_status(); |
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} |
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} |
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#endif
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