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57 lines
1.8 KiB
57 lines
1.8 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_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include "RangeFinder.h" |
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#include "RangeFinder_Backend.h" |
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/* |
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base class constructor. |
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This incorporates initialisation as well. |
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*/ |
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AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) : |
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ranger(_ranger), |
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state(_state) |
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{ |
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} |
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// update status based on distance measurement |
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void AP_RangeFinder_Backend::update_status() |
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{ |
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// check distance |
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if ((int16_t)state.distance_cm > ranger._max_distance_cm[state.instance]) { |
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set_status(RangeFinder::RangeFinder_OutOfRangeHigh); |
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} else if ((int16_t)state.distance_cm < ranger._min_distance_cm[state.instance]) { |
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set_status(RangeFinder::RangeFinder_OutOfRangeLow); |
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} else { |
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set_status(RangeFinder::RangeFinder_Good); |
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} |
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} |
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// set status and update valid count |
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void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_Status status) |
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{ |
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state.status = status; |
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// update valid count |
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if (status == RangeFinder::RangeFinder_Good) { |
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if (state.range_valid_count < 10) { |
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state.range_valid_count++; |
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} |
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} else { |
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state.range_valid_count = 0; |
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} |
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}
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