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82 lines
2.5 KiB
82 lines
2.5 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 "AP_RangeFinder.h" |
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#include "AP_RangeFinder_Backend.h" |
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extern const AP_HAL::HAL& hal; |
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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::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : |
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state(_state), |
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params(_params) |
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{ |
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_backend_type = type(); |
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} |
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MAV_DISTANCE_SENSOR AP_RangeFinder_Backend::get_mav_distance_sensor_type() const { |
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if (type() == RangeFinder::Type::NONE) { |
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return MAV_DISTANCE_SENSOR_UNKNOWN; |
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} |
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return _get_mav_distance_sensor_type(); |
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} |
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RangeFinder::Status AP_RangeFinder_Backend::status() const { |
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if (type() == RangeFinder::Type::NONE) { |
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// turned off at runtime? |
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return RangeFinder::Status::NotConnected; |
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} |
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return state.status; |
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} |
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// true if sensor is returning data |
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bool AP_RangeFinder_Backend::has_data() const { |
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return ((state.status != RangeFinder::Status::NotConnected) && |
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(state.status != RangeFinder::Status::NoData)); |
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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 (state.distance_m > max_distance_cm() * 0.01f) { |
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set_status(RangeFinder::Status::OutOfRangeHigh); |
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} else if (state.distance_m < min_distance_cm() * 0.01f) { |
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set_status(RangeFinder::Status::OutOfRangeLow); |
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} else { |
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set_status(RangeFinder::Status::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::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::Status::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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