From f5369db2458cad9f0916d7b5ec213ce4accb24aa Mon Sep 17 00:00:00 2001 From: baumanta Date: Thu, 15 Nov 2018 14:43:04 +0100 Subject: [PATCH] Put parameters inside library. Get rid of unnecessary activation logic --- .../CollisionPrevention.cpp | 13 ---- .../CollisionPrevention.hpp | 8 +-- .../collisionprevention_params.c | 60 +++++++++++++++++++ .../mc_pos_control/mc_pos_control_params.c | 19 ------ 4 files changed, 61 insertions(+), 39 deletions(-) create mode 100644 src/lib/CollisionPrevention/collisionprevention_params.c diff --git a/src/lib/CollisionPrevention/CollisionPrevention.cpp b/src/lib/CollisionPrevention/CollisionPrevention.cpp index 38e49a41a1..98cf2ec2f8 100644 --- a/src/lib/CollisionPrevention/CollisionPrevention.cpp +++ b/src/lib/CollisionPrevention/CollisionPrevention.cpp @@ -106,18 +106,6 @@ void CollisionPrevention::publish_constraints(const Vector2f &original_setpoint, } else { _constraints_pub = orb_advertise(ORB_ID(collision_constraints), &constraints); } - -} - -void CollisionPrevention::update() -{ - // activate/deactivate the collision prevention based on MPC_COL_PREV parameter - if (collision_prevention_enabled()) { - activate(); - - } else { - deactivate(); - } } void CollisionPrevention::update_range_constraints() @@ -155,7 +143,6 @@ void CollisionPrevention::update_range_constraints() void CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const float max_speed) { - update(); reset_constraints(); //calculate movement constraints based on range data diff --git a/src/lib/CollisionPrevention/CollisionPrevention.hpp b/src/lib/CollisionPrevention/CollisionPrevention.hpp index ec82401bd9..11561c3bb5 100644 --- a/src/lib/CollisionPrevention/CollisionPrevention.hpp +++ b/src/lib/CollisionPrevention/CollisionPrevention.hpp @@ -71,13 +71,7 @@ public: */ bool initializeSubscriptions(SubscriptionArray &subscription_array); - void activate() {_is_active = true;} - - void deactivate() {_is_active = false;} - - bool is_active() {return _is_active;} - - bool collision_prevention_enabled() { return MPC_COL_PREV.get(); } + bool is_active() {return MPC_COL_PREV.get();} void update(); diff --git a/src/lib/CollisionPrevention/collisionprevention_params.c b/src/lib/CollisionPrevention/collisionprevention_params.c new file mode 100644 index 0000000000..a518571f39 --- /dev/null +++ b/src/lib/CollisionPrevention/collisionprevention_params.c @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * Copyright (c) 2018 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file collisionprevention_params.c + * + * Parameters defined by the collisionprevention lib. + * + * @author Tanja Baumann + */ + +/** + * Flag to enable the use of a MAVLink range sensor for collision avoidance. + * + * @boolean + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_COL_PREV, 0); + +/** + * Minimum distance the vehicle should keep to all obstacles + * + * Only used in Position mode when collision avoidance is active (see MPC_COL_AVOID). + * + * @min 0 + * @max 15 + * @unit meters + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_COL_PREV_D, 4.0f); diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index f418ac5403..f86eb78206 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -738,22 +738,3 @@ PARAM_DEFINE_INT32(MPC_OBS_AVOID, 0); */ PARAM_DEFINE_INT32(MPC_YAW_MODE, 0); -/** - * Flag to enable the use of a MAVLink range sensor for collision avoidance. - * - * @boolean - * @group Multicopter Position Control - */ -PARAM_DEFINE_INT32(MPC_COL_PREV, 0); - -/** - * Minimum distance the vehicle should keep to all obstacles - * - * Only used in Position mode when collision avoidance is active (see MPC_COL_AVOID). - * - * @min 0 - * @max 15 - * @unit meters - * @group Multicopter Position Control - */ -PARAM_DEFINE_FLOAT(MPC_COL_PREV_D, 4.0f);