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140 lines
4.5 KiB
140 lines
4.5 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_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <AP_Param/AP_Param.h> |
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#include "AP_Proximity_SITL.h" |
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#include <stdio.h> |
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extern const AP_HAL::HAL& hal; |
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#define PROXIMITY_MAX_RANGE 200.0f |
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#define PROXIMITY_ACCURACY 0.1f |
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/* |
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The constructor also initialises the proximity sensor. |
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*/ |
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AP_Proximity_SITL::AP_Proximity_SITL(AP_Proximity &_frontend, |
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AP_Proximity::Proximity_State &_state): |
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AP_Proximity_Backend(_frontend, _state), |
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sitl(AP::sitl()) |
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{ |
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ap_var_type ptype; |
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fence_count = (AP_Int8 *)AP_Param::find("FENCE_TOTAL", &ptype); |
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if (fence_count == nullptr || ptype != AP_PARAM_INT8) { |
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AP_HAL::panic("Proximity_SITL: Failed to find FENCE_TOTAL"); |
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} |
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fence_alt_max = (AP_Float *)AP_Param::find("FENCE_ALT_MAX", &ptype); |
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if (fence_alt_max == nullptr || ptype != AP_PARAM_FLOAT) { |
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AP_HAL::panic("Proximity_SITL: Failed to find FENCE_ALT_MAX"); |
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} |
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} |
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// update the state of the sensor |
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void AP_Proximity_SITL::update(void) |
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{ |
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load_fence(); |
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current_loc.lat = sitl->state.latitude * 1.0e7; |
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current_loc.lng = sitl->state.longitude * 1.0e7; |
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current_loc.alt = sitl->state.altitude * 1.0e2; |
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if (fence && fence_loader.boundary_valid(fence_count->get(), fence)) { |
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// update distance in one sector |
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if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) { |
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set_status(AP_Proximity::Proximity_Good); |
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_distance_valid[last_sector] = true; |
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_angle[last_sector] = _sector_middle_deg[last_sector]; |
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update_boundary_for_sector(last_sector); |
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} else { |
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_distance_valid[last_sector] = false; |
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} |
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last_sector++; |
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if (last_sector >= _num_sectors) { |
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last_sector = 0; |
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} |
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} else { |
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set_status(AP_Proximity::Proximity_NoData); |
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} |
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} |
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void AP_Proximity_SITL::load_fence(void) |
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{ |
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uint32_t now = AP_HAL::millis(); |
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if (now - last_load_ms < 1000) { |
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return; |
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} |
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last_load_ms = now; |
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if (fence == nullptr) { |
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fence = (Vector2l *)fence_loader.create_point_array(sizeof(Vector2l)); |
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} |
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if (fence == nullptr) { |
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return; |
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} |
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for (uint8_t i=0; i<fence_count->get(); i++) { |
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fence_loader.load_point_from_eeprom(i, fence[i]); |
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} |
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} |
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// get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction) |
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bool AP_Proximity_SITL::get_distance_to_fence(float angle_deg, float &distance) const |
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{ |
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if (!fence_loader.boundary_valid(fence_count->get(), fence)) { |
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return false; |
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} |
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// convert to earth frame |
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angle_deg = wrap_360(sitl->state.yawDeg + angle_deg); |
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/* |
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simple bisection search to find distance. Not really efficient, |
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but we can afford the CPU in SITL |
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*/ |
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float min_dist = 0, max_dist = PROXIMITY_MAX_RANGE; |
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while (max_dist - min_dist > PROXIMITY_ACCURACY) { |
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float test_dist = (max_dist+min_dist)*0.5f; |
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Location loc = current_loc; |
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location_update(loc, angle_deg, test_dist); |
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Vector2l vecloc(loc.lat, loc.lng); |
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if (fence_loader.boundary_breached(vecloc, fence_count->get(), fence)) { |
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max_dist = test_dist; |
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} else { |
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min_dist = test_dist; |
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} |
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} |
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distance = min_dist; |
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return true; |
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} |
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// get maximum and minimum distances (in meters) of primary sensor |
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float AP_Proximity_SITL::distance_max() const |
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{ |
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return PROXIMITY_MAX_RANGE; |
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} |
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float AP_Proximity_SITL::distance_min() const |
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{ |
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return 0.0f; |
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} |
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// get distance upwards in meters. returns true on success |
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bool AP_Proximity_SITL::get_upward_distance(float &distance) const |
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{ |
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// return distance to fence altitude |
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distance = MAX(0.0f, fence_alt_max->get() - sitl->height_agl); |
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return true; |
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} |
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#endif // CONFIG_HAL_BOARD
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