ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

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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/>.
*/
#include "AP_RangeFinder_MAVLink.h"
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#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
/*
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The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
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{
state.last_reading_ms = AP_HAL::millis();
distance_cm = 0;
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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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*/
bool AP_RangeFinder_MAVLink::detect()
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{
// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
// there is an attached MAVLink rangefinder
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return true;
}
/*
Set the distance based on a MAVLINK message
*/
void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
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{
mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(&msg, &packet);
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// only accept distances for downward facing sensors
if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) {
state.last_reading_ms = AP_HAL::millis();
distance_cm = packet.current_distance;
}
sensor_type = (MAV_DISTANCE_SENSOR)packet.type;
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}
/*
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update the state of the sensor
*/
void AP_RangeFinder_MAVLink::update(void)
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{
//Time out on incoming data; if we don't get new
//data in 500ms, dump it
if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
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set_status(RangeFinder::RangeFinder_NoData);
state.distance_cm = 0;
} else {
state.distance_cm = distance_cm;
update_status();
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}
}