ardupilot/libraries/AP_Proximity/AP_Proximity_RangeFinder.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_HAL/AP_HAL.h>
#include "AP_Proximity_RangeFinder.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h>
#include <stdio.h>
#include <AP_RangeFinder/RangeFinder_Backend.h>
extern const AP_HAL::HAL& hal;
AP_Proximity_RangeFinder::AP_Proximity_RangeFinder(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state) :
AP_Proximity_Backend(_frontend, _state)
{
}
// update the state of the sensor
void AP_Proximity_RangeFinder::update(void)
{
// exit immediately if no rangefinder object
const RangeFinder *rngfnd = frontend.get_rangefinder();
if (rngfnd == nullptr) {
set_status(AP_Proximity::Proximity_NoData);
return;
}
// look through all rangefinders
for (uint8_t i=0; i<rngfnd->num_sensors(); i++) {
AP_RangeFinder_Backend *sensor = rngfnd->get_backend(i);
if (sensor == nullptr) {
continue;
}
if (sensor->has_data()) {
// check for horizontal range finders
if (sensor->orientation() <= ROTATION_YAW_315) {
uint8_t sector = (uint8_t)sensor->orientation();
_angle[sector] = sector * 45;
_distance[sector] = sensor->distance_cm() / 100.0f;
_distance_min = sensor->min_distance_cm() / 100.0f;
_distance_max = sensor->max_distance_cm() / 100.0f;
_distance_valid[sector] = (_distance[sector] >= _distance_min) && (_distance[sector] <= _distance_max);
_last_update_ms = AP_HAL::millis();
update_boundary_for_sector(sector);
}
// check upward facing range finder
if (sensor->orientation() == ROTATION_PITCH_90) {
_distance_upward = sensor->distance_cm() / 100.0f;
_last_upward_update_ms = AP_HAL::millis();
}
}
}
// check for timeout and set health status
if ((_last_update_ms == 0) || (AP_HAL::millis() - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData);
} else {
set_status(AP_Proximity::Proximity_Good);
}
}
// get distance upwards in meters. returns true on success
bool AP_Proximity_RangeFinder::get_upward_distance(float &distance) const
{
if ((_last_upward_update_ms != 0) && (AP_HAL::millis() - _last_upward_update_ms <= PROXIMITY_RANGEFIDER_TIMEOUT_MS)) {
distance = _distance_upward;
return true;
}
return false;
}