Copter: move proximity to g2

ArduCopter/Copter.cpp

@@ -76,7 +76,7 @@ Copter::Copter(void) :
     pos_control(ahrs, inertial_nav, motors, attitude_control,
                 g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
                 g.p_pos_xy, g.pi_vel_xy),
-    avoid(ahrs, inertial_nav, fence, proximity),
+    avoid(ahrs, inertial_nav, fence, g2.proximity),
     wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
     circle_nav(inertial_nav, ahrs, pos_control),
     pmTest1(0),

ArduCopter/Copter.h

@@ -197,10 +197,6 @@ private:
         LowPassFilterFloat alt_cm_filt; // altitude filter
     } rangefinder_state = { false, false, 0, 0 };
 
-#if PROXIMITY_ENABLED == ENABLED
-    AP_Proximity proximity {serial_manager};
-#endif
-
     AP_RPM rpm_sensor;
 
     // Inertial Navigation EKF

ArduCopter/GCS_Mavlink.cpp

@@ -144,7 +144,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
         control_sensors_present |= MAV_SYS_STATUS_LOGGING;
     }
 #if PROXIMITY_ENABLED == ENABLED
-    if (copter.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
+    if (copter.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
 #endif
@@ -232,7 +232,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
     }
 
 #if PROXIMITY_ENABLED == ENABLED
-    if (copter.proximity.get_status() < AP_Proximity::Proximity_Good) {
+    if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
         control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
 #endif

ArduCopter/Log.cpp

@@ -770,19 +770,19 @@ void Copter::Log_Write_Proximity()
 {
 #if PROXIMITY_ENABLED == ENABLED
     float sector_distance[8] = {0,0,0,0,0,0,0,0};
-    proximity.get_horizontal_distance(0, sector_distance[0]);
-    proximity.get_horizontal_distance(45, sector_distance[1]);
-    proximity.get_horizontal_distance(90, sector_distance[2]);
-    proximity.get_horizontal_distance(135, sector_distance[3]);
-    proximity.get_horizontal_distance(180, sector_distance[4]);
-    proximity.get_horizontal_distance(225, sector_distance[5]);
-    proximity.get_horizontal_distance(270, sector_distance[6]);
-    proximity.get_horizontal_distance(315, sector_distance[7]);
+    g2.proximity.get_horizontal_distance(0, sector_distance[0]);
+    g2.proximity.get_horizontal_distance(45, sector_distance[1]);
+    g2.proximity.get_horizontal_distance(90, sector_distance[2]);
+    g2.proximity.get_horizontal_distance(135, sector_distance[3]);
+    g2.proximity.get_horizontal_distance(180, sector_distance[4]);
+    g2.proximity.get_horizontal_distance(225, sector_distance[5]);
+    g2.proximity.get_horizontal_distance(270, sector_distance[6]);
+    g2.proximity.get_horizontal_distance(315, sector_distance[7]);
 
     struct log_Proximity pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
         time_us         : AP_HAL::micros64(),
-        health          : (uint8_t)proximity.get_status(),
+        health          : (uint8_t)g2.proximity.get_status(),
         dist0           : sector_distance[0],
         dist45          : sector_distance[1],
         dist90          : sector_distance[2],

ArduCopter/Parameters.cpp

@@ -911,12 +911,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
     GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Copter),
 
-#if PROXIMITY_ENABLED == ENABLED
-    // @Group: PRX_
-    // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
-    GOBJECT(proximity, "PRX_", AP_Proximity),
-#endif
-
     // @Param: AUTOTUNE_AXES
     // @DisplayName: Autotune axis bitmask
     // @Description: 1-byte bitmap of axes to autotune
@@ -1013,7 +1007,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 0:ADSBMavlinkProcessing
     // @User: Advanced
     AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
-    
+
+#if PROXIMITY_ENABLED == ENABLED
+    // @Group: PRX_
+    // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
+    AP_SUBGROUPINFO(proximity, "PRX_", 8, ParametersG2, AP_Proximity),
+#endif
+
     AP_GROUPEND
 };
 
@@ -1022,8 +1022,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
   constructor for g2 object
  */
 ParametersG2::ParametersG2(void)
+    : proximity(copter.serial_manager)
 #if ADVANCED_FAILSAFE == ENABLED
-    : afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
+     ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
 #endif
 {
     AP_Param::setup_object_defaults(this, var_info);

ArduCopter/Parameters.h

@@ -362,7 +362,6 @@ public:
         k_param_rtl_climb_min,
         k_param_rpm_sensor,
         k_param_autotune_min_d, // 251
-        k_param_proximity,
         k_param_DataFlash = 253, // 253 - Logging Group
 
         // 254,255: reserved
@@ -559,6 +558,11 @@ public:
     // ground effect compensation enable/disable
     AP_Int8 gndeffect_comp_enabled;
 
+#if PROXIMITY_ENABLED == ENABLED
+    // proximity (aka object avoidance) library
+    AP_Proximity proximity;
+#endif
+
 #if ADVANCED_FAILSAFE == ENABLED
     // advanced failsafe library
     AP_AdvancedFailsafe_Copter afs;

ArduCopter/arming_checks.cpp

@@ -380,7 +380,7 @@ bool Copter::parameter_checks(bool display_failure)
 
         #if PROXIMITY_ENABLED == ENABLED
         // check proximity sensor if enabled
-        if (copter.proximity.get_status() == AP_Proximity::Proximity_NoData) {
+        if (copter.g2.proximity.get_status() == AP_Proximity::Proximity_NoData) {
             if (display_failure) {
                 gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor");
             }

ArduCopter/sensors.cpp

@@ -258,7 +258,7 @@ void Copter::button_update(void)
 void Copter::init_proximity(void)
 {
 #if PROXIMITY_ENABLED == ENABLED
-    proximity.init();
+    g2.proximity.init();
 #endif
 }
 
@@ -266,7 +266,7 @@ void Copter::init_proximity(void)
 void Copter::update_proximity(void)
 {
 #if PROXIMITY_ENABLED == ENABLED
-    proximity.update();
+    g2.proximity.update();
 #endif
 }