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76 lines
2.3 KiB
76 lines
2.3 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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#include <AP_HAL/AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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/* |
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The constructor also initialises the rangefinder. Note that this |
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constructor is not called until detect() returns true, so we |
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already know that we should setup the rangefinder |
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*/ |
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AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : |
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AP_RangeFinder_Backend(_state, _params) |
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{ |
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state.last_reading_ms = AP_HAL::millis(); |
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distance_cm = 0; |
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} |
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/* |
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detect if a MAVLink rangefinder is connected. We'll detect by |
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checking a parameter. |
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*/ |
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bool AP_RangeFinder_MAVLink::detect() |
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{ |
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// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink, |
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// there is an attached MAVLink rangefinder |
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return true; |
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} |
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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 downward facing sensors |
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if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) { |
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state.last_reading_ms = AP_HAL::millis(); |
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distance_cm = packet.current_distance; |
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} |
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sensor_type = (MAV_DISTANCE_SENSOR)packet.type; |
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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::RangeFinder_NoData); |
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state.distance_cm = 0; |
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} else { |
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state.distance_cm = distance_cm; |
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update_status(); |
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} |
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}
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