2016-08-15 03:17:15 -03:00
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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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#include "AP_Proximity.h"
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#include "AP_Proximity_LightWareSF40C.h"
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2017-07-07 13:04:55 -03:00
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#include "AP_Proximity_RPLidarA2.h"
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2017-02-03 00:36:03 -04:00
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#include "AP_Proximity_TeraRangerTower.h"
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2018-06-15 06:08:01 -03:00
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#include "AP_Proximity_TeraRangerTowerEvo.h"
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2017-02-09 07:30:04 -04:00
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#include "AP_Proximity_RangeFinder.h"
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2016-12-23 02:03:21 -04:00
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#include "AP_Proximity_MAV.h"
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#include "AP_Proximity_SITL.h"
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#include "AP_Proximity_MorseSITL.h"
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extern const AP_HAL::HAL &hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Proximity::var_info[] = {
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// 0 is reserved for possible addition of an ENABLED parameter
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// @Param: _TYPE
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// @DisplayName: Proximity type
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// @Description: What type of proximity sensor is connected
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// @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,10:SITL,11:MorseSITL
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO("_TYPE", 1, AP_Proximity, _type[0], 0),
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// @Param: _ORIENT
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// @DisplayName: Proximity sensor orientation
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// @Description: Proximity sensor orientation
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// @Values: 0:Default,1:Upside Down
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// @User: Standard
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AP_GROUPINFO("_ORIENT", 2, AP_Proximity, _orientation[0], 0),
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// @Param: _YAW_CORR
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// @DisplayName: Proximity sensor yaw correction
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// @Description: Proximity sensor yaw correction
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// @Units: deg
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// @Range: -180 180
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// @User: Standard
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AP_GROUPINFO("_YAW_CORR", 3, AP_Proximity, _yaw_correction[0], 0),
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// @Param: _IGN_ANG1
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// @DisplayName: Proximity sensor ignore angle 1
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// @Description: Proximity sensor ignore angle 1
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG1", 4, AP_Proximity, _ignore_angle_deg[0], 0),
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// @Param: _IGN_WID1
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// @DisplayName: Proximity sensor ignore width 1
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// @Description: Proximity sensor ignore width 1
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// @Units: deg
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// @Range: 0 45
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// @User: Standard
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AP_GROUPINFO("_IGN_WID1", 5, AP_Proximity, _ignore_width_deg[0], 0),
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// @Param: _IGN_ANG2
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// @DisplayName: Proximity sensor ignore angle 2
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// @Description: Proximity sensor ignore angle 2
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG2", 6, AP_Proximity, _ignore_angle_deg[1], 0),
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// @Param: _IGN_WID2
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// @DisplayName: Proximity sensor ignore width 2
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// @Description: Proximity sensor ignore width 2
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// @Units: deg
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// @Range: 0 45
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// @User: Standard
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AP_GROUPINFO("_IGN_WID2", 7, AP_Proximity, _ignore_width_deg[1], 0),
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// @Param: _IGN_ANG3
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// @DisplayName: Proximity sensor ignore angle 3
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// @Description: Proximity sensor ignore angle 3
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG3", 8, AP_Proximity, _ignore_angle_deg[2], 0),
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// @Param: _IGN_WID3
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// @DisplayName: Proximity sensor ignore width 3
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// @Description: Proximity sensor ignore width 3
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// @Units: deg
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// @Range: 0 45
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// @User: Standard
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AP_GROUPINFO("_IGN_WID3", 9, AP_Proximity, _ignore_width_deg[2], 0),
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// @Param: _IGN_ANG4
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// @DisplayName: Proximity sensor ignore angle 4
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// @Description: Proximity sensor ignore angle 4
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG4", 10, AP_Proximity, _ignore_angle_deg[3], 0),
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// @Param: _IGN_WID4
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// @DisplayName: Proximity sensor ignore width 4
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// @Description: Proximity sensor ignore width 4
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// @Units: deg
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// @Range: 0 45
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// @User: Standard
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AP_GROUPINFO("_IGN_WID4", 11, AP_Proximity, _ignore_width_deg[3], 0),
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// @Param: _IGN_ANG5
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// @DisplayName: Proximity sensor ignore angle 5
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// @Description: Proximity sensor ignore angle 5
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG5", 12, AP_Proximity, _ignore_angle_deg[4], 0),
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// @Param: _IGN_WID5
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// @DisplayName: Proximity sensor ignore width 5
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// @Description: Proximity sensor ignore width 5
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// @Units: deg
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// @Range: 0 45
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// @User: Standard
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AP_GROUPINFO("_IGN_WID5", 13, AP_Proximity, _ignore_width_deg[4], 0),
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// @Param: _IGN_ANG6
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// @DisplayName: Proximity sensor ignore angle 6
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// @Description: Proximity sensor ignore angle 6
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG6", 14, AP_Proximity, _ignore_angle_deg[5], 0),
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// @Param: _IGN_WID6
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// @DisplayName: Proximity sensor ignore width 6
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// @Description: Proximity sensor ignore width 6
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// @Units: deg
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// @Range: 0 45
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// @User: Standard
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AP_GROUPINFO("_IGN_WID6", 15, AP_Proximity, _ignore_width_deg[5], 0),
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2016-08-15 03:17:15 -03:00
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#if PROXIMITY_MAX_INSTANCES > 1
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// @Param: 2_TYPE
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// @DisplayName: Second Proximity type
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// @Description: What type of proximity sensor is connected
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// @Values: 0:None,1:LightWareSF40C,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("2_TYPE", 16, AP_Proximity, _type[1], 0),
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// @Param: 2_ORIENT
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// @DisplayName: Second Proximity sensor orientation
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// @Description: Second Proximity sensor orientation
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// @Values: 0:Default,1:Upside Down
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// @User: Standard
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AP_GROUPINFO("2_ORIENT", 17, AP_Proximity, _orientation[1], 0),
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2017-01-05 14:07:14 -04:00
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// @Param: 2_YAW_CORR
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// @DisplayName: Second Proximity sensor yaw correction
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// @Description: Second Proximity sensor yaw correction
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// @Units: deg
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// @Range: -180 180
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// @User: Standard
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2019-05-20 02:54:33 -03:00
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AP_GROUPINFO("2_YAW_CORR", 18, AP_Proximity, _yaw_correction[1], 0),
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#endif
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AP_GROUPEND
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};
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AP_Proximity::AP_Proximity(AP_SerialManager &_serial_manager) :
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serial_manager(_serial_manager)
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{
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AP_Param::setup_object_defaults(this, var_info);
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2018-05-09 04:45:43 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_Proximity must be singleton");
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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_singleton = this;
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}
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// initialise the Proximity class. We do detection of attached sensors here
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// we don't allow for hot-plugging of sensors (i.e. reboot required)
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void AP_Proximity::init(void)
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{
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if (num_instances != 0) {
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// init called a 2nd time?
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return;
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}
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for (uint8_t i=0; i<PROXIMITY_MAX_INSTANCES; i++) {
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detect_instance(i);
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if (drivers[i] != nullptr) {
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// we loaded a driver for this instance, so it must be
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// present (although it may not be healthy)
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num_instances = i+1;
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}
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// initialise status
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state[i].status = Proximity_NotConnected;
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}
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}
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// update Proximity state for all instances. This should be called at a high rate by the main loop
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void AP_Proximity::update(void)
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{
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for (uint8_t i=0; i<num_instances; i++) {
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if (drivers[i] != nullptr) {
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if (_type[i] == Proximity_Type_None) {
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// allow user to disable a proximity sensor at runtime
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state[i].status = Proximity_NotConnected;
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continue;
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}
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drivers[i]->update();
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}
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}
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// work out primary instance - first sensor returning good data
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for (int8_t i=num_instances-1; i>=0; i--) {
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if (drivers[i] != nullptr && (state[i].status == Proximity_Good)) {
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primary_instance = i;
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}
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}
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}
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// return sensor orientation
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uint8_t AP_Proximity::get_orientation(uint8_t instance) const
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{
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if (instance >= PROXIMITY_MAX_INSTANCES) {
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return 0;
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}
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return _orientation[instance].get();
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}
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// return sensor yaw correction
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int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
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{
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if (instance >= PROXIMITY_MAX_INSTANCES) {
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return 0;
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}
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return _yaw_correction[instance].get();
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}
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// return sensor health
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AP_Proximity::Proximity_Status AP_Proximity::get_status(uint8_t instance) const
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{
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// sanity check instance number
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if (instance >= num_instances) {
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return Proximity_NotConnected;
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}
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return state[instance].status;
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}
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AP_Proximity::Proximity_Status AP_Proximity::get_status() const
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{
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return get_status(primary_instance);
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}
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2017-01-09 23:09:18 -04:00
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// handle mavlink DISTANCE_SENSOR messages
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void AP_Proximity::handle_msg(mavlink_message_t *msg)
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{
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for (uint8_t i=0; i<num_instances; i++) {
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if ((drivers[i] != nullptr) && (_type[i] != Proximity_Type_None)) {
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drivers[i]->handle_msg(msg);
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}
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}
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}
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2016-08-15 03:17:15 -03:00
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// detect if an instance of a proximity sensor is connected.
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void AP_Proximity::detect_instance(uint8_t instance)
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{
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uint8_t type = _type[instance];
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if (type == Proximity_Type_SF40C) {
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if (AP_Proximity_LightWareSF40C::detect(serial_manager)) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance], serial_manager);
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return;
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}
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}
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2017-07-07 13:04:55 -03:00
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if (type == Proximity_Type_RPLidarA2) {
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if (AP_Proximity_RPLidarA2::detect(serial_manager)) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_RPLidarA2(*this, state[instance], serial_manager);
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return;
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}
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}
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2016-12-23 02:03:21 -04:00
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if (type == Proximity_Type_MAV) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_MAV(*this, state[instance]);
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return;
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}
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2017-02-03 00:36:03 -04:00
|
|
|
if (type == Proximity_Type_TRTOWER) {
|
|
|
|
if (AP_Proximity_TeraRangerTower::detect(serial_manager)) {
|
|
|
|
state[instance].instance = instance;
|
|
|
|
drivers[instance] = new AP_Proximity_TeraRangerTower(*this, state[instance], serial_manager);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
}
|
2018-06-15 06:08:01 -03:00
|
|
|
if (type == Proximity_Type_TRTOWEREVO) {
|
|
|
|
if (AP_Proximity_TeraRangerTowerEvo::detect(serial_manager)) {
|
|
|
|
state[instance].instance = instance;
|
|
|
|
drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance], serial_manager);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
}
|
2017-02-09 07:30:04 -04:00
|
|
|
if (type == Proximity_Type_RangeFinder) {
|
|
|
|
state[instance].instance = instance;
|
|
|
|
drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance]);
|
|
|
|
return;
|
|
|
|
}
|
2016-11-14 00:48:38 -04:00
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
if (type == Proximity_Type_SITL) {
|
|
|
|
state[instance].instance = instance;
|
|
|
|
drivers[instance] = new AP_Proximity_SITL(*this, state[instance]);
|
|
|
|
return;
|
|
|
|
}
|
2018-12-04 01:54:20 -04:00
|
|
|
if (type == Proximity_Type_MorseSITL) {
|
|
|
|
state[instance].instance = instance;
|
|
|
|
drivers[instance] = new AP_Proximity_MorseSITL(*this, state[instance]);
|
|
|
|
return;
|
|
|
|
}
|
2016-11-14 00:48:38 -04:00
|
|
|
#endif
|
2016-08-15 03:17:15 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
// 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 AP_Proximity::get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const
|
|
|
|
{
|
2016-10-30 02:24:21 -03:00
|
|
|
if ((drivers[instance] == nullptr) || (_type[instance] == Proximity_Type_None)) {
|
2016-08-15 03:17:15 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// get distance from backend
|
|
|
|
return drivers[instance]->get_horizontal_distance(angle_deg, distance);
|
|
|
|
}
|
|
|
|
|
|
|
|
// 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 AP_Proximity::get_horizontal_distance(float angle_deg, float &distance) const
|
|
|
|
{
|
|
|
|
return get_horizontal_distance(primary_instance, angle_deg, distance);
|
|
|
|
}
|
2016-11-15 03:15:46 -04:00
|
|
|
|
2017-04-12 06:00:41 -03:00
|
|
|
// get distances in 8 directions. used for sending distances to ground station
|
|
|
|
bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const
|
|
|
|
{
|
|
|
|
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// get distances from backend
|
|
|
|
return drivers[primary_instance]->get_horizontal_distances(prx_dist_array);
|
|
|
|
}
|
|
|
|
|
2016-11-15 03:29:35 -04:00
|
|
|
// get boundary points around vehicle for use by avoidance
|
|
|
|
// returns nullptr and sets num_points to zero if no boundary can be returned
|
|
|
|
const Vector2f* AP_Proximity::get_boundary_points(uint8_t instance, uint16_t& num_points) const
|
|
|
|
{
|
|
|
|
if ((drivers[instance] == nullptr) || (_type[instance] == Proximity_Type_None)) {
|
|
|
|
num_points = 0;
|
|
|
|
return nullptr;
|
|
|
|
}
|
|
|
|
// get boundary from backend
|
2017-01-16 03:35:59 -04:00
|
|
|
return drivers[instance]->get_boundary_points(num_points);
|
2016-11-15 03:29:35 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
const Vector2f* AP_Proximity::get_boundary_points(uint16_t& num_points) const
|
|
|
|
{
|
|
|
|
return get_boundary_points(primary_instance, num_points);
|
|
|
|
}
|
|
|
|
|
2016-11-15 03:15:46 -04:00
|
|
|
// get distance and angle to closest object (used for pre-arm check)
|
|
|
|
// returns true on success, false if no valid readings
|
|
|
|
bool AP_Proximity::get_closest_object(float& angle_deg, float &distance) const
|
|
|
|
{
|
|
|
|
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// get closest object from backend
|
|
|
|
return drivers[primary_instance]->get_closest_object(angle_deg, distance);
|
2016-12-16 23:42:13 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
// get number of objects, used for non-GPS avoidance
|
|
|
|
uint8_t AP_Proximity::get_object_count() const
|
|
|
|
{
|
|
|
|
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
// get count from backend
|
|
|
|
return drivers[primary_instance]->get_object_count();
|
|
|
|
}
|
|
|
|
|
|
|
|
// get an object's angle and distance, used for non-GPS avoidance
|
|
|
|
// returns false if no angle or distance could be returned for some reason
|
|
|
|
bool AP_Proximity::get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const
|
|
|
|
{
|
|
|
|
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// get angle and distance from backend
|
|
|
|
return drivers[primary_instance]->get_object_angle_and_distance(object_number, angle_deg, distance);
|
2016-11-15 03:15:46 -04:00
|
|
|
}
|
2016-11-25 01:01:21 -04:00
|
|
|
|
|
|
|
// get maximum and minimum distances (in meters) of primary sensor
|
|
|
|
float AP_Proximity::distance_max() const
|
|
|
|
{
|
|
|
|
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
|
|
|
|
return 0.0f;
|
|
|
|
}
|
|
|
|
// get maximum distance from backend
|
|
|
|
return drivers[primary_instance]->distance_max();
|
|
|
|
}
|
|
|
|
float AP_Proximity::distance_min() const
|
|
|
|
{
|
|
|
|
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
|
|
|
|
return 0.0f;
|
|
|
|
}
|
|
|
|
// get minimum distance from backend
|
|
|
|
return drivers[primary_instance]->distance_min();
|
|
|
|
}
|
2017-01-16 02:58:14 -04:00
|
|
|
|
|
|
|
// get distance in meters upwards, returns true on success
|
|
|
|
bool AP_Proximity::get_upward_distance(uint8_t instance, float &distance) const
|
|
|
|
{
|
|
|
|
if ((drivers[instance] == nullptr) || (_type[instance] == Proximity_Type_None)) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// get upward distance from backend
|
|
|
|
return drivers[instance]->get_upward_distance(distance);
|
|
|
|
}
|
|
|
|
|
|
|
|
bool AP_Proximity::get_upward_distance(float &distance) const
|
|
|
|
{
|
|
|
|
return get_upward_distance(primary_instance, distance);
|
|
|
|
}
|
2018-05-09 04:45:43 -03:00
|
|
|
|
|
|
|
AP_Proximity::Proximity_Type AP_Proximity::get_type(uint8_t instance) const
|
|
|
|
{
|
|
|
|
if (instance < PROXIMITY_MAX_INSTANCES) {
|
|
|
|
return (Proximity_Type)((uint8_t)_type[instance]);
|
|
|
|
}
|
|
|
|
return Proximity_Type_None;
|
|
|
|
}
|
|
|
|
|
2018-06-25 06:50:47 -03:00
|
|
|
bool AP_Proximity::sensor_present() const
|
|
|
|
{
|
|
|
|
return get_status() != Proximity_NotConnected;
|
|
|
|
}
|
|
|
|
bool AP_Proximity::sensor_enabled() const
|
|
|
|
{
|
|
|
|
return _type[primary_instance] != Proximity_Type_None;
|
|
|
|
}
|
|
|
|
bool AP_Proximity::sensor_failed() const
|
|
|
|
{
|
|
|
|
return get_status() != Proximity_Good;
|
|
|
|
}
|
|
|
|
|
2018-05-09 04:45:43 -03:00
|
|
|
AP_Proximity *AP_Proximity::_singleton;
|
2019-05-22 03:02:11 -03:00
|
|
|
|
|
|
|
namespace AP {
|
|
|
|
|
|
|
|
AP_Proximity *proximity()
|
|
|
|
{
|
|
|
|
return AP_Proximity::get_singleton();
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|