mirror of https://github.com/ArduPilot/ardupilot
Rover: always build sonar code
can use enabled/disabled parameter for runtime control
This commit is contained in:
Andrew Tridgell
parent
7b524d15fa
commit
06dd6c2790
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@ -269,10 +269,8 @@ AP_HAL::AnalogSource * batt_curr_pin;
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////////////////////////////////////////////////////////////////////////////////
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//
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ModeFilterInt16_Size5 sonar_mode_filter(2);
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#if CONFIG_SONAR == ENABLED
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AP_HAL::AnalogSource *sonar_analog_source;
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AP_RangeFinder_MaxsonarXL *sonar;
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#endif
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AP_HAL::AnalogSource *sonar_analog_source;
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AP_RangeFinder_MaxsonarXL *sonar;
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// relay support
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AP_Relay relay;
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@ -582,19 +580,15 @@ void setup() {
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batt_volt_pin = hal.analogin->channel(g.battery_volt_pin);
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batt_curr_pin = hal.analogin->channel(g.battery_curr_pin);
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#if CONFIG_SONAR == ENABLED
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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sonar_analog_source = new AP_ADC_AnalogSource(
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&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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sonar_analog_source = hal.analogin->channel(
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CONFIG_SONAR_SOURCE_ANALOG_PIN);
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#else
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#warning "Invalid CONFIG_SONAR_SOURCE"
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#endif
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sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
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&sonar_mode_filter);
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#endif
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#endif
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init_ardupilot();
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}
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@ -676,7 +670,6 @@ static void fast_loop()
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#endif
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// Read Sonar
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// ----------
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#if CONFIG_SONAR == ENABLED
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if(g.sonar_enabled){
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sonar_dist = sonar->read();
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@ -686,7 +679,6 @@ static void fast_loop()
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obstacle = false;
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}
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}
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#endif
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// uses the yaw from the DCM to give more accurate turns
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calc_bearing_error();
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@ -76,6 +76,7 @@
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# define CONFIG_RELAY ENABLED
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# define BATTERY_PIN_1 0
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# define CURRENT_PIN_1 1
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# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define CONFIG_INS_TYPE CONFIG_INS_MPU6000
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# define CONFIG_PUSHBUTTON DISABLED
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@ -129,10 +130,6 @@
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# define MAG_ORIENTATION ROTATION_NONE
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#define CONFIG_SONAR DISABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// IMU Selection
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//
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@ -184,14 +181,6 @@
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# define SONAR_ENABLED DISABLED
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#endif
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#ifndef CONFIG_SONAR
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# define CONFIG_SONAR ENABLED
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#endif
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#ifndef SONAR_TRIGGER
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# define SONAR_TRIGGER 60 // trigger distance in cm
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// HIL_MODE OPTIONAL
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@ -1,5 +1,4 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CONFIG_SONAR == ENABLED
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static void init_sonar(void)
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{
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/*
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@ -10,7 +9,6 @@ static void init_sonar(void)
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#endif
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*/
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}
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#endif
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#if LITE == DISABLED
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// Sensors are not available in HIL_MODE_ATTITUDE
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@ -221,10 +221,7 @@ static void init_ardupilot()
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#endif
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// initialise sonar
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#if CONFIG_SONAR == ENABLED
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init_sonar();
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#endif
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#endif
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// Do GPS init
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g_gps = &g_gps_driver;
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@ -16,9 +16,7 @@ static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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#if CONFIG_SONAR == ENABLED
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
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static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
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@ -45,9 +43,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
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#endif
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{"gps", test_gps},
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{"ins", test_ins},
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#if CONFIG_SONAR == ENABLED
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{"sonartest", test_sonar},
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#endif
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{"compass", test_mag},
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#elif HIL_MODE == HIL_MODE_SENSORS
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{"adc", test_adc},
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@ -546,28 +542,28 @@ test_mag(uint8_t argc, const Menu::arg *argv)
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//-------------------------------------------------------------------------------------------
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// real sensors that have not been simulated yet go here
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#if CONFIG_SONAR == ENABLED
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static int8_t
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test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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if (!g.sonar_enabled) {
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cliSerial->println_P(PSTR("Sonar is not enabled"));
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return 0;
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}
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print_hit_enter();
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delay(1000);
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init_sonar();
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delay(1000);
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while(1){
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while (true) {
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delay(20);
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if(g.sonar_enabled){
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sonar_dist = sonar->read();
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}
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cliSerial->printf_P(PSTR("sonar_dist = %d\n"), (int)sonar_dist);
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if(cliSerial->available() > 0){
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cliSerial->printf_P(PSTR("sonar distance = %d cm\n"), (int)sonar_dist);
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if (cliSerial->available() > 0) {
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break;
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}
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}
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return (0);
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}
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#endif // SONAR == ENABLED
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#endif // CLI_ENABLED
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