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Copter: move proximity to g2

This commit is contained in:
Randy Mackay 2016-10-14 14:02:29 +09:00
parent fa36b563bc
commit 0aab175051
8 changed files with 29 additions and 28 deletions
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2
ArduCopter/Copter.cpp
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@ -76,7 +76,7 @@ Copter::Copter(void) :
pos_control(ahrs, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
g.p_pos_xy, g.pi_vel_xy),
avoid(ahrs, inertial_nav, fence, proximity),
avoid(ahrs, inertial_nav, fence, g2.proximity),
wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs, pos_control),
pmTest1(0),

4
ArduCopter/Copter.h
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@ -197,10 +197,6 @@ private:
LowPassFilterFloat alt_cm_filt; // altitude filter
} rangefinder_state = { false, false, 0, 0 };
#if PROXIMITY_ENABLED == ENABLED
AP_Proximity proximity {serial_manager};
#endif
AP_RPM rpm_sensor;
// Inertial Navigation EKF

4
ArduCopter/GCS_Mavlink.cpp
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@ -144,7 +144,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
#if PROXIMITY_ENABLED == ENABLED
if (copter.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
if (copter.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif
@ -232,7 +232,7 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
}
#if PROXIMITY_ENABLED == ENABLED
if (copter.proximity.get_status() < AP_Proximity::Proximity_Good) {
if (copter.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
#endif

18
ArduCopter/Log.cpp
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@ -770,19 +770,19 @@ void Copter::Log_Write_Proximity()
{
#if PROXIMITY_ENABLED == ENABLED
float sector_distance[8] = {0,0,0,0,0,0,0,0};
proximity.get_horizontal_distance(0, sector_distance[0]);
proximity.get_horizontal_distance(45, sector_distance[1]);
proximity.get_horizontal_distance(90, sector_distance[2]);
proximity.get_horizontal_distance(135, sector_distance[3]);
proximity.get_horizontal_distance(180, sector_distance[4]);
proximity.get_horizontal_distance(225, sector_distance[5]);
proximity.get_horizontal_distance(270, sector_distance[6]);
proximity.get_horizontal_distance(315, sector_distance[7]);
g2.proximity.get_horizontal_distance(0, sector_distance[0]);
g2.proximity.get_horizontal_distance(45, sector_distance[1]);
g2.proximity.get_horizontal_distance(90, sector_distance[2]);
g2.proximity.get_horizontal_distance(135, sector_distance[3]);
g2.proximity.get_horizontal_distance(180, sector_distance[4]);
g2.proximity.get_horizontal_distance(225, sector_distance[5]);
g2.proximity.get_horizontal_distance(270, sector_distance[6]);
g2.proximity.get_horizontal_distance(315, sector_distance[7]);
struct log_Proximity pkt = {
LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
time_us : AP_HAL::micros64(),
health : (uint8_t)proximity.get_status(),
health : (uint8_t)g2.proximity.get_status(),
dist0 : sector_distance[0],
dist45 : sector_distance[1],
dist90 : sector_distance[2],

17
ArduCopter/Parameters.cpp
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@ -911,12 +911,6 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Copter),
#if PROXIMITY_ENABLED == ENABLED
// @Group: PRX_
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
GOBJECT(proximity, "PRX_", AP_Proximity),
#endif
// @Param: AUTOTUNE_AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
@ -1013,7 +1007,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Bitmask: 0:ADSBMavlinkProcessing
// @User: Advanced
AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
#if PROXIMITY_ENABLED == ENABLED
// @Group: PRX_
// @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
AP_SUBGROUPINFO(proximity, "PRX_", 8, ParametersG2, AP_Proximity),
#endif
AP_GROUPEND
};
@ -1022,8 +1022,9 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
constructor for g2 object
*/
ParametersG2::ParametersG2(void)
: proximity(copter.serial_manager)
#if ADVANCED_FAILSAFE == ENABLED
: afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
#endif
{
AP_Param::setup_object_defaults(this, var_info);

6
ArduCopter/Parameters.h
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@ -362,7 +362,6 @@ public:
k_param_rtl_climb_min,
k_param_rpm_sensor,
k_param_autotune_min_d, // 251
k_param_proximity,
k_param_DataFlash = 253, // 253 - Logging Group
// 254,255: reserved
@ -559,6 +558,11 @@ public:
// ground effect compensation enable/disable
AP_Int8 gndeffect_comp_enabled;
#if PROXIMITY_ENABLED == ENABLED
// proximity (aka object avoidance) library
AP_Proximity proximity;
#endif
#if ADVANCED_FAILSAFE == ENABLED
// advanced failsafe library
AP_AdvancedFailsafe_Copter afs;

2
ArduCopter/arming_checks.cpp
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@ -380,7 +380,7 @@ bool Copter::parameter_checks(bool display_failure)
#if PROXIMITY_ENABLED == ENABLED
// check proximity sensor if enabled
if (copter.proximity.get_status() == AP_Proximity::Proximity_NoData) {
if (copter.g2.proximity.get_status() == AP_Proximity::Proximity_NoData) {
if (display_failure) {
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check proximity sensor");
}

4
ArduCopter/sensors.cpp
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@ -258,7 +258,7 @@ void Copter::button_update(void)
void Copter::init_proximity(void)
{
#if PROXIMITY_ENABLED == ENABLED
proximity.init();
g2.proximity.init();
#endif
}
@ -266,7 +266,7 @@ void Copter::init_proximity(void)
void Copter::update_proximity(void)
{
#if PROXIMITY_ENABLED == ENABLED
proximity.update();
g2.proximity.update();
#endif
}