mirror of https://github.com/ArduPilot/ardupilot
96 lines
3.2 KiB
C
96 lines
3.2 KiB
C
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/*
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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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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#define PROXIMITY_MAX_INSTANCES 1 // Maximum number of proximity sensor instances available on this platform
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#define PROXIMITY_YAW_CORRECTION_DEFAULT 22 // default correction for sensor error in yaw
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class AP_Proximity_Backend;
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class AP_Proximity
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{
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public:
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friend class AP_Proximity_Backend;
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AP_Proximity(AP_SerialManager &_serial_manager);
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// Proximity driver types
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enum Proximity_Type {
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Proximity_Type_None = 0,
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Proximity_Type_SF40C = 1,
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};
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enum Proximity_Status {
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Proximity_NotConnected = 0,
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Proximity_NoData,
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Proximity_Good
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};
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// detect and initialise any available rangefinders
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void init(void);
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// update state of all rangefinders. Should be called at high rate from main loop
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void update(void);
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// return sensor orientation and yaw correction
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uint8_t get_orientation(uint8_t instance) const;
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int16_t get_yaw_correction(uint8_t instance) const;
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// return sensor health
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Proximity_Status get_status(uint8_t instance) const;
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Proximity_Status get_status() const;
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// Return the number of range finder instances
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uint8_t num_sensors(void) const {
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return num_instances;
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}
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// get distance in meters in a particular direction in degrees (0 is forward, clockwise)
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// returns true on successful read and places distance in distance
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bool get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const;
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bool get_horizontal_distance(float angle_deg, float &distance) const;
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// The Proximity_State structure is filled in by the backend driver
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struct Proximity_State {
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uint8_t instance; // the instance number of this proximity sensor
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enum Proximity_Status status; // sensor status
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};
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// parameter list
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static const struct AP_Param::GroupInfo var_info[];
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private:
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Proximity_State state[PROXIMITY_MAX_INSTANCES];
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AP_Proximity_Backend *drivers[PROXIMITY_MAX_INSTANCES];
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uint8_t primary_instance:3;
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uint8_t num_instances:3;
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AP_SerialManager &serial_manager;
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// parameters for all instances
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AP_Int8 _type[PROXIMITY_MAX_INSTANCES];
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AP_Int8 _orientation[PROXIMITY_MAX_INSTANCES];
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AP_Int16 _yaw_correction[PROXIMITY_MAX_INSTANCES];
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void detect_instance(uint8_t instance);
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void update_instance(uint8_t instance);
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};
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