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98 lines
3.4 KiB
98 lines
3.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Rover.h" |
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void Rover::init_barometer(void) |
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{ |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer")); |
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barometer.calibrate(); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
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} |
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void Rover::init_sonar(void) |
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{ |
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sonar.init(); |
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} |
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// read_battery - reads battery voltage and current and invokes failsafe |
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// should be called at 10hz |
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void Rover::read_battery(void) |
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{ |
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battery.read(); |
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} |
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// read the receiver RSSI as an 8 bit number for MAVLink |
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// RC_CHANNELS_SCALED message |
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void Rover::read_receiver_rssi(void) |
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{ |
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rssi_analog_source->set_pin(g.rssi_pin); |
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float ret = rssi_analog_source->voltage_average() * 50; |
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receiver_rssi = constrain_int16(ret, 0, 255); |
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} |
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// read the sonars |
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void Rover::read_sonars(void) |
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{ |
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sonar.update(); |
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if (sonar.status() == RangeFinder::RangeFinder_NotConnected) { |
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// this makes it possible to disable sonar at runtime |
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return; |
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} |
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if (sonar.has_data(1)) { |
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// we have two sonars |
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obstacle.sonar1_distance_cm = sonar.distance_cm(0); |
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obstacle.sonar2_distance_cm = sonar.distance_cm(1); |
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if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm && |
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obstacle.sonar1_distance_cm <= (uint16_t)obstacle.sonar2_distance_cm) { |
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// we have an object on the left |
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if (obstacle.detected_count < 127) { |
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obstacle.detected_count++; |
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} |
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if (obstacle.detected_count == g.sonar_debounce) { |
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gcs_send_text_fmt(PSTR("Sonar1 obstacle %u cm"), |
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(unsigned)obstacle.sonar1_distance_cm); |
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} |
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obstacle.detected_time_ms = hal.scheduler->millis(); |
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obstacle.turn_angle = g.sonar_turn_angle; |
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} else if (obstacle.sonar2_distance_cm <= (uint16_t)g.sonar_trigger_cm) { |
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// we have an object on the right |
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if (obstacle.detected_count < 127) { |
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obstacle.detected_count++; |
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} |
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if (obstacle.detected_count == g.sonar_debounce) { |
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gcs_send_text_fmt(PSTR("Sonar2 obstacle %u cm"), |
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(unsigned)obstacle.sonar2_distance_cm); |
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} |
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obstacle.detected_time_ms = hal.scheduler->millis(); |
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obstacle.turn_angle = -g.sonar_turn_angle; |
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} |
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} else { |
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// we have a single sonar |
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obstacle.sonar1_distance_cm = sonar.distance_cm(0); |
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obstacle.sonar2_distance_cm = 0; |
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if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm) { |
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// obstacle detected in front |
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if (obstacle.detected_count < 127) { |
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obstacle.detected_count++; |
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} |
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if (obstacle.detected_count == g.sonar_debounce) { |
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gcs_send_text_fmt(PSTR("Sonar obstacle %u cm"), |
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(unsigned)obstacle.sonar1_distance_cm); |
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} |
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obstacle.detected_time_ms = hal.scheduler->millis(); |
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obstacle.turn_angle = g.sonar_turn_angle; |
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} |
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} |
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Log_Write_Sonar(); |
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// no object detected - reset after the turn time |
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if (obstacle.detected_count >= g.sonar_debounce && |
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hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) { |
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gcs_send_text_fmt(PSTR("Obstacle passed")); |
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obstacle.detected_count = 0; |
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obstacle.turn_angle = 0; |
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} |
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}
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