ardupilot/libraries/AP_Proximity/AP_Proximity.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_SerialManager/AP_SerialManager.h>
#define PROXIMITY_MAX_INSTANCES 1 // Maximum number of proximity sensor instances available on this platform
#define PROXIMITY_YAW_CORRECTION_DEFAULT 22 // default correction for sensor error in yaw
class AP_Proximity_Backend;
class AP_Proximity
{
public:
friend class AP_Proximity_Backend;
AP_Proximity(AP_SerialManager &_serial_manager);
// Proximity driver types
enum Proximity_Type {
Proximity_Type_None = 0,
Proximity_Type_SF40C = 1,
};
enum Proximity_Status {
Proximity_NotConnected = 0,
Proximity_NoData,
Proximity_Good
};
// detect and initialise any available rangefinders
void init(void);
// update state of all rangefinders. Should be called at high rate from main loop
void update(void);
// return sensor orientation and yaw correction
uint8_t get_orientation(uint8_t instance) const;
int16_t get_yaw_correction(uint8_t instance) const;
// return sensor health
Proximity_Status get_status(uint8_t instance) const;
Proximity_Status get_status() const;
// Return the number of range finder instances
uint8_t num_sensors(void) const {
return num_instances;
}
// get distance in meters in a particular direction in degrees (0 is forward, clockwise)
// returns true on successful read and places distance in distance
bool get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const;
bool get_horizontal_distance(float angle_deg, float &distance) const;
// The Proximity_State structure is filled in by the backend driver
struct Proximity_State {
uint8_t instance; // the instance number of this proximity sensor
enum Proximity_Status status; // sensor status
};
// parameter list
static const struct AP_Param::GroupInfo var_info[];
private:
Proximity_State state[PROXIMITY_MAX_INSTANCES];
AP_Proximity_Backend *drivers[PROXIMITY_MAX_INSTANCES];
uint8_t primary_instance:3;
uint8_t num_instances:3;
AP_SerialManager &serial_manager;
// parameters for all instances
AP_Int8 _type[PROXIMITY_MAX_INSTANCES];
AP_Int8 _orientation[PROXIMITY_MAX_INSTANCES];
AP_Int16 _yaw_correction[PROXIMITY_MAX_INSTANCES];
void detect_instance(uint8_t instance);
void update_instance(uint8_t instance);
};