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AP_RangeFinder: remove unused parameters from detect and constructors

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This commit is contained in:
Peter Barker 2017-08-07 13:41:01 +10:00 committed by Francisco Ferreira
parent 08cd3f4a77
commit 0b1c67d170
32 changed files with 121 additions and 131 deletions
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6
libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
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@ -39,8 +39,8 @@ volatile struct range *rangerpru;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) : AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND)
{ {
} }
@ -48,7 +48,7 @@ AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder &_ranger, uint8_t ins
Stop PRU, load firmware (check if firmware is present), start PRU. Stop PRU, load firmware (check if firmware is present), start PRU.
If we get a result the sensor seems to be there. If we get a result the sensor seems to be there.
*/ */
bool AP_RangeFinder_BBB_PRU::detect(RangeFinder &_ranger, uint8_t instance) bool AP_RangeFinder_BBB_PRU::detect()
{ {
bool result = true; bool result = true;
uint32_t mem_fd; uint32_t mem_fd;

4
libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
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@ -21,10 +21,10 @@ class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend
{ {
public: public:
// constructor // constructor
AP_RangeFinder_BBB_PRU(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state); AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance); static bool detect();
// update state // update state
void update(void); void update(void);

7
libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
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@ -62,9 +62,8 @@ static const uint16_t waveform_mode1[32] = {
1675, 1540, 1492, 1374, 1292 1675, 1540, 1492, 1374, 1292
}; };
AP_RangeFinder_Bebop::AP_RangeFinder_Bebop(RangeFinder &_ranger, AP_RangeFinder_Bebop::AP_RangeFinder_Bebop(RangeFinder::RangeFinder_State &_state) :
uint8_t instance, RangeFinder::RangeFinder_State &_state) : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND),
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND),
_thread(new Linux::Thread(FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Bebop::_loop, void))) _thread(new Linux::Thread(FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Bebop::_loop, void)))
{ {
_init(); _init();
@ -88,7 +87,7 @@ AP_RangeFinder_Bebop::~AP_RangeFinder_Bebop()
_iio = nullptr; _iio = nullptr;
} }
bool AP_RangeFinder_Bebop::detect(RangeFinder &_ranger, uint8_t instance) bool AP_RangeFinder_Bebop::detect()
{ {
return true; return true;
} }

5
libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
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@ -88,11 +88,10 @@ struct adc_capture {
class AP_RangeFinder_Bebop : public AP_RangeFinder_Backend { class AP_RangeFinder_Bebop : public AP_RangeFinder_Backend {
public: public:
AP_RangeFinder_Bebop(RangeFinder &ranger, AP_RangeFinder_Bebop(RangeFinder::RangeFinder_State &_state);
uint8_t instance, RangeFinder::RangeFinder_State &_state);
~AP_RangeFinder_Bebop(void); ~AP_RangeFinder_Bebop(void);
static bool detect(RangeFinder &ranger, uint8_t instance); static bool detect();
void update(void); void update(void);
private: private:

7
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -24,10 +24,9 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) : AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
{ {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
if (uart != nullptr) { if (uart != nullptr) {
@ -40,7 +39,7 @@ AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder &_ranger, uint8_t
trying to take a reading on Serial. If we get a result the sensor is trying to take a reading on Serial. If we get a result the sensor is
there. there.
*/ */
bool AP_RangeFinder_LeddarOne::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager) bool AP_RangeFinder_LeddarOne::detect(AP_SerialManager &serial_manager)
{ {
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr; return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
} }

4
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
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@ -42,11 +42,11 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
public: public:
// constructor // constructor
AP_RangeFinder_LeddarOne(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager); AP_SerialManager &serial_manager);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager); static bool detect(AP_SerialManager &serial_manager);
// update state // update state
void update(void); void update(void);

8
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
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@ -26,8 +26,8 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER) : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
, _dev(std::move(dev)) {} , _dev(std::move(dev)) {}
/* /*
@ -35,10 +35,10 @@ AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, u
trying to take a reading on I2C. If we get a result the sensor is trying to take a reading on I2C. If we get a result the sensor is
there. there.
*/ */
AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{ {
AP_RangeFinder_LightWareI2C *sensor AP_RangeFinder_LightWareI2C *sensor
= new AP_RangeFinder_LightWareI2C(_ranger, instance, _state, std::move(dev)); = new AP_RangeFinder_LightWareI2C(_state, std::move(dev));
if (!sensor) { if (!sensor) {
delete sensor; delete sensor;

5
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
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@ -9,14 +9,15 @@ class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
public: public:
// static detection function // static detection function
static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// update state // update state
void update(void); void update(void);
private: private:
// constructor // constructor
AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void init(); void init();
void timer(); void timer();

7
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
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@ -25,10 +25,9 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) : AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
{ {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
if (uart != nullptr) { if (uart != nullptr) {
@ -41,7 +40,7 @@ AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder &_ran
trying to take a reading on Serial. If we get a result the sensor is trying to take a reading on Serial. If we get a result the sensor is
there. there.
*/ */
bool AP_RangeFinder_LightWareSerial::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager) bool AP_RangeFinder_LightWareSerial::detect(AP_SerialManager &serial_manager)
{ {
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr; return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
} }

4
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
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@ -8,11 +8,11 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
public: public:
// constructor // constructor
AP_RangeFinder_LightWareSerial(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager); AP_SerialManager &serial_manager);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager); static bool detect(AP_SerialManager &serial_manager);
// update state // update state
void update(void); void update(void);

6
libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
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@ -25,8 +25,8 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) : AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_UNKNOWN) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_UNKNOWN)
{ {
last_update_ms = AP_HAL::millis(); last_update_ms = AP_HAL::millis();
distance_cm = 0; distance_cm = 0;
@ -36,7 +36,7 @@ AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t ins
detect if a MAVLink rangefinder is connected. We'll detect by detect if a MAVLink rangefinder is connected. We'll detect by
checking a parameter. checking a parameter.
*/ */
bool AP_RangeFinder_MAVLink::detect(RangeFinder &_ranger, uint8_t instance) bool AP_RangeFinder_MAVLink::detect()
{ {
// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink, // Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
// there is an attached MAVLink rangefinder // there is an attached MAVLink rangefinder

4
libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
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@ -11,10 +11,10 @@ class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
public: public:
// constructor // constructor
AP_RangeFinder_MAVLink(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state); AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance); static bool detect();
// update state // update state
void update(void); void update(void);

9
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
View File

@ -35,8 +35,8 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state)
: AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND) : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND)
, _dev(hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)) , _dev(hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR))
{ {
} }
@ -46,11 +46,10 @@ AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder &_ranger,
trying to take a reading on I2C. If we get a result the sensor is trying to take a reading on I2C. If we get a result the sensor is
there. there.
*/ */
AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state)
RangeFinder::RangeFinder_State &_state)
{ {
AP_RangeFinder_MaxsonarI2CXL *sensor AP_RangeFinder_MaxsonarI2CXL *sensor
= new AP_RangeFinder_MaxsonarI2CXL(_ranger, instance, _state); = new AP_RangeFinder_MaxsonarI2CXL(_state);
if (!sensor) { if (!sensor) {
return nullptr; return nullptr;
} }

6
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
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@ -17,16 +17,14 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
{ {
public: public:
// static detection function // static detection function
static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance, static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state);
RangeFinder::RangeFinder_State &_state);
// update state // update state
void update(void); void update(void);
private: private:
// constructor // constructor
AP_RangeFinder_MaxsonarI2CXL(RangeFinder &ranger, uint8_t instance, AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state);
RangeFinder::RangeFinder_State &_state);
bool _init(void); bool _init(void);
void _timer(void); void _timer(void);

7
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
View File

@ -29,10 +29,9 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) : AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_ULTRASOUND) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_ULTRASOUND)
{ {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
if (uart != nullptr) { if (uart != nullptr) {
@ -45,7 +44,7 @@ AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_r
trying to take a reading on Serial. If we get a result the sensor is trying to take a reading on Serial. If we get a result the sensor is
there. there.
*/ */
bool AP_RangeFinder_MaxsonarSerialLV::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager) bool AP_RangeFinder_MaxsonarSerialLV::detect(AP_SerialManager &serial_manager)
{ {
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr; return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
} }

4
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
View File

@ -8,11 +8,11 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
public: public:
// constructor // constructor
AP_RangeFinder_MaxsonarSerialLV(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager); AP_SerialManager &serial_manager);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager); static bool detect(AP_SerialManager &serial_manager);
// update state // update state
void update(void); void update(void);

13
libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
View File

@ -43,13 +43,10 @@ extern "C" {
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_PX4_PWM::AP_RangeFinder_PX4_PWM(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) : AP_RangeFinder_PX4_PWM::AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_UNKNOWN), AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_UNKNOWN),
_last_timestamp(0), _powersave_range(powersave_range),
_last_pulse_time_ms(0), estimated_terrain_height(_estimated_terrain_height)
_disable_time_ms(0),
_good_sample_count(0),
_last_sample_distance_cm(0)
{ {
_fd = open(PWMIN0_DEVICE_PATH, O_RDONLY); _fd = open(PWMIN0_DEVICE_PATH, O_RDONLY);
if (_fd == -1) { if (_fd == -1) {
@ -83,7 +80,7 @@ AP_RangeFinder_PX4_PWM::~AP_RangeFinder_PX4_PWM()
/* /*
see if the PX4 driver is available see if the PX4 driver is available
*/ */
bool AP_RangeFinder_PX4_PWM::detect(RangeFinder &_ranger, uint8_t instance) bool AP_RangeFinder_PX4_PWM::detect()
{ {
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \ #if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
!defined(CONFIG_ARCH_BOARD_AEROFC_V1) !defined(CONFIG_ARCH_BOARD_AEROFC_V1)

13
libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.h
View File

@ -21,13 +21,13 @@ class AP_RangeFinder_PX4_PWM : public AP_RangeFinder_Backend
{ {
public: public:
// constructor // constructor
AP_RangeFinder_PX4_PWM(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state); AP_RangeFinder_PX4_PWM(RangeFinder::RangeFinder_State &_state, AP_Int16 &powersave_range, float &_estimated_terrain_height);
// destructor // destructor
~AP_RangeFinder_PX4_PWM(void); ~AP_RangeFinder_PX4_PWM(void);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance); static bool detect();
// update state // update state
void update(void); void update(void);
@ -39,4 +39,13 @@ private:
uint32_t _disable_time_ms; uint32_t _disable_time_ms;
uint32_t _good_sample_count; uint32_t _good_sample_count;
float _last_sample_distance_cm; float _last_sample_distance_cm;
AP_Int16 &_powersave_range;
float &estimated_terrain_height;
// return true if we are beyond the power saving range
bool out_of_range(void) const {
return _powersave_range > 0 && estimated_terrain_height > _powersave_range;
}
}; };

8
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
View File

@ -44,10 +44,10 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus,
RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_Type _rftype) RangeFinder::RangeFinder_Type _rftype)
: AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER) : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
, _dev(hal.i2c_mgr->get_device(bus, LL40LS_ADDR)) , _dev(hal.i2c_mgr->get_device(bus, LL40LS_ADDR))
, rftype(_rftype) , rftype(_rftype)
{ {
@ -57,12 +57,12 @@ AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeF
detect if a PulsedLight rangefinder is connected. We'll detect by detect if a PulsedLight rangefinder is connected. We'll detect by
look for the version registers look for the version registers
*/ */
AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(uint8_t bus, RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_Type rftype) RangeFinder::RangeFinder_Type rftype)
{ {
AP_RangeFinder_PulsedLightLRF *sensor AP_RangeFinder_PulsedLightLRF *sensor
= new AP_RangeFinder_PulsedLightLRF(bus, _ranger, instance, _state, rftype); = new AP_RangeFinder_PulsedLightLRF(bus, _state, rftype);
if (!sensor || if (!sensor ||
!sensor->init()) { !sensor->init()) {
delete sensor; delete sensor;

4
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
View File

@ -19,7 +19,7 @@ class AP_RangeFinder_PulsedLightLRF : public AP_RangeFinder_Backend
public: public:
// static detection function // static detection function
static AP_RangeFinder_Backend *detect(uint8_t bus, RangeFinder &ranger, uint8_t instance, static AP_RangeFinder_Backend *detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_Type rftype); RangeFinder::RangeFinder_Type rftype);
@ -29,7 +29,7 @@ public:
private: private:
// constructor // constructor
AP_RangeFinder_PulsedLightLRF(uint8_t bus, RangeFinder &ranger, uint8_t instance, AP_RangeFinder_PulsedLightLRF(uint8_t bus,
RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_Type rftype); RangeFinder::RangeFinder_Type rftype);

8
libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
View File

@ -216,8 +216,8 @@ const AP_RangeFinder_VL53L0X::RegData AP_RangeFinder_VL53L0X::tuning_data[] =
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev) AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
: AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER) : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
, dev(std::move(_dev)) {} , dev(std::move(_dev)) {}
@ -226,10 +226,10 @@ AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder &_ranger, uint8_t ins
trying to take a reading on I2C. If we get a result the sensor is trying to take a reading on I2C. If we get a result the sensor is
there. there.
*/ */
AP_RangeFinder_Backend *AP_RangeFinder_VL53L0X::detect(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) AP_RangeFinder_Backend *AP_RangeFinder_VL53L0X::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{ {
AP_RangeFinder_VL53L0X *sensor AP_RangeFinder_VL53L0X *sensor
= new AP_RangeFinder_VL53L0X(_ranger, instance, _state, std::move(dev)); = new AP_RangeFinder_VL53L0X(_state, std::move(dev));
if (!sensor) { if (!sensor) {
delete sensor; delete sensor;

4
libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
View File

@ -9,14 +9,14 @@ class AP_RangeFinder_VL53L0X : public AP_RangeFinder_Backend
public: public:
// static detection function // static detection function
static AP_RangeFinder_Backend *detect(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
// update state // update state
void update(void); void update(void);
private: private:
// constructor // constructor
AP_RangeFinder_VL53L0X(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void init(); void init();
void timer(); void timer();

8
libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
View File

@ -31,8 +31,8 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) : AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_UNKNOWN) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_UNKNOWN)
{ {
source = hal.analogin->channel(_state.pin); source = hal.analogin->channel(_state.pin);
if (source == nullptr) { if (source == nullptr) {
@ -50,9 +50,9 @@ AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder &_ranger, uint8_t insta
can do is check if the pin number is valid. If it is, then assume can do is check if the pin number is valid. If it is, then assume
that the device is connected that the device is connected
*/ */
bool AP_RangeFinder_analog::detect(RangeFinder &_ranger, uint8_t instance) bool AP_RangeFinder_analog::detect(RangeFinder::RangeFinder_State &_state)
{ {
if (_ranger.state[instance].pin != -1) { if (_state.pin != -1) {
return true; return true;
} }
return false; return false;

4
libraries/AP_RangeFinder/AP_RangeFinder_analog.h
View File

@ -7,10 +7,10 @@ class AP_RangeFinder_analog : public AP_RangeFinder_Backend
{ {
public: public:
// constructor // constructor
AP_RangeFinder_analog(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state); AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_state);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance); static bool detect(RangeFinder::RangeFinder_State &_state);
// update state // update state
void update(void); void update(void);

8
libraries/AP_RangeFinder/AP_RangeFinder_trone.cpp
View File

@ -35,8 +35,8 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder::RangeFinder_State &_state)
: AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_LASER) : AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_LASER)
, dev(hal.i2c_mgr->get_device(bus, TRONE_I2C_ADDR)) , dev(hal.i2c_mgr->get_device(bus, TRONE_I2C_ADDR))
{ {
} }
@ -46,10 +46,10 @@ AP_RangeFinder_trone::AP_RangeFinder_trone(uint8_t bus, RangeFinder &_ranger, ui
trying to take a reading on I2C. If we get a result the sensor is trying to take a reading on I2C. If we get a result the sensor is
there. there.
*/ */
AP_RangeFinder_Backend *AP_RangeFinder_trone::detect(uint8_t bus, RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_Backend *AP_RangeFinder_trone::detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state) RangeFinder::RangeFinder_State &_state)
{ {
AP_RangeFinder_trone *sensor = new AP_RangeFinder_trone(bus, _ranger, instance, _state); AP_RangeFinder_trone *sensor = new AP_RangeFinder_trone(bus, _state);
if (!sensor) { if (!sensor) {
return nullptr; return nullptr;
} }

5
libraries/AP_RangeFinder/AP_RangeFinder_trone.h
View File

@ -8,7 +8,7 @@ class AP_RangeFinder_trone : public AP_RangeFinder_Backend
{ {
public: public:
// static detection function // static detection function
static AP_RangeFinder_Backend *detect(uint8_t bus, RangeFinder &ranger, uint8_t instance, static AP_RangeFinder_Backend *detect(uint8_t bus,
RangeFinder::RangeFinder_State &_state); RangeFinder::RangeFinder_State &_state);
// update state // update state
@ -16,8 +16,7 @@ public:
private: private:
// constructor // constructor
AP_RangeFinder_trone(uint8_t bus, RangeFinder &ranger, uint8_t instance, AP_RangeFinder_trone(uint8_t bus, RangeFinder::RangeFinder_State &_state);
RangeFinder::RangeFinder_State &_state);
bool measure(void); bool measure(void);
bool collect(uint16_t &distance_cm); bool collect(uint16_t &distance_cm);

7
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
View File

@ -25,10 +25,9 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder already know that we should setup the rangefinder
*/ */
AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t instance, AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) : AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_ranger, instance, _state, MAV_DISTANCE_SENSOR_RADAR) AP_RangeFinder_Backend(_state, MAV_DISTANCE_SENSOR_RADAR)
{ {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0);
if (uart != nullptr) { if (uart != nullptr) {
@ -41,7 +40,7 @@ AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder &_ranger, uint8_t i
trying to take a reading on Serial. If we get a result the sensor is trying to take a reading on Serial. If we get a result the sensor is
there. there.
*/ */
bool AP_RangeFinder_uLanding::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager) bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager)
{ {
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0) != nullptr; return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0) != nullptr;
} }

4
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
View File

@ -8,11 +8,11 @@ class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
public: public:
// constructor // constructor
AP_RangeFinder_uLanding(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager); AP_SerialManager &serial_manager);
// static detection function // static detection function
static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager); static bool detect(AP_SerialManager &serial_manager);
// update state // update state
void update(void); void update(void);

52
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -609,91 +609,91 @@ void RangeFinder::detect_instance(uint8_t instance)
switch (_type) { switch (_type) {
case RangeFinder_TYPE_PLI2C: case RangeFinder_TYPE_PLI2C:
case RangeFinder_TYPE_PLI2CV3: case RangeFinder_TYPE_PLI2CV3:
if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, *this, instance, state[instance], _type))) { if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, state[instance], _type))) {
_add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, *this, instance, state[instance], _type)); _add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, state[instance], _type));
} }
break; break;
case RangeFinder_TYPE_MBI2C: case RangeFinder_TYPE_MBI2C:
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance, state[instance])); _add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance]));
break; break;
case RangeFinder_TYPE_LWI2C: case RangeFinder_TYPE_LWI2C:
if (state[instance].address) { if (state[instance].address) {
_add_backend(AP_RangeFinder_LightWareI2C::detect(*this, instance, state[instance], _add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address))); hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address)));
} }
break; break;
case RangeFinder_TYPE_TRONE: case RangeFinder_TYPE_TRONE:
if (!_add_backend(AP_RangeFinder_trone::detect(0, *this, instance, state[instance]))) { if (!_add_backend(AP_RangeFinder_trone::detect(0, state[instance]))) {
_add_backend(AP_RangeFinder_trone::detect(1, *this, instance, state[instance])); _add_backend(AP_RangeFinder_trone::detect(1, state[instance]));
} }
break; break;
case RangeFinder_TYPE_VL53L0X: case RangeFinder_TYPE_VL53L0X:
if (!_add_backend(AP_RangeFinder_VL53L0X::detect(*this, instance, state[instance], if (!_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
hal.i2c_mgr->get_device(1, 0x29)))) { hal.i2c_mgr->get_device(1, 0x29)))) {
_add_backend(AP_RangeFinder_VL53L0X::detect(*this, instance, state[instance], _add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
hal.i2c_mgr->get_device(0, 0x29))); hal.i2c_mgr->get_device(0, 0x29)));
} }
break; break;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
case RangeFinder_TYPE_PX4_PWM: case RangeFinder_TYPE_PX4_PWM:
if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) { if (AP_RangeFinder_PX4_PWM::detect()) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4_PWM(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_PX4_PWM(state[instance], _powersave_range, estimated_terrain_height);
} }
break; break;
#endif #endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
case RangeFinder_TYPE_BBB_PRU: case RangeFinder_TYPE_BBB_PRU:
if (AP_RangeFinder_BBB_PRU::detect(*this, instance)) { if (AP_RangeFinder_BBB_PRU::detect()) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_BBB_PRU(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_BBB_PRU(state[instance]);
} }
break; break;
#endif #endif
case RangeFinder_TYPE_LWSER: case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_LightWareSerial::detect(serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], serial_manager);
} }
break; break;
case RangeFinder_TYPE_LEDDARONE: case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_LeddarOne::detect(serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LeddarOne(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], serial_manager);
} }
break; break;
case RangeFinder_TYPE_ULANDING: case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_uLanding::detect(serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_uLanding(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_uLanding(state[instance], serial_manager);
} }
break; break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \ #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO) CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
case RangeFinder_TYPE_BEBOP: case RangeFinder_TYPE_BEBOP:
if (AP_RangeFinder_Bebop::detect(*this, instance)) { if (AP_RangeFinder_Bebop::detect()) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_Bebop(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_Bebop(state[instance]);
} }
break; break;
#endif #endif
case RangeFinder_TYPE_MAVLink: case RangeFinder_TYPE_MAVLink:
if (AP_RangeFinder_MAVLink::detect(*this, instance)) { if (AP_RangeFinder_MAVLink::detect()) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_MAVLink(state[instance]);
} }
break; break;
case RangeFinder_TYPE_MBSER: case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], serial_manager);
} }
break; break;
case RangeFinder_TYPE_ANALOG: case RangeFinder_TYPE_ANALOG:
// note that analog will always come back as present if the pin is valid // note that analog will always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(*this, instance)) { if (AP_RangeFinder_analog::detect(state[instance])) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_analog(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_analog(state[instance]);
} }
break; break;
default: default:

1
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -32,7 +32,6 @@ class RangeFinder
{ {
public: public:
friend class AP_RangeFinder_Backend; friend class AP_RangeFinder_Backend;
friend class AP_RangeFinder_analog; // bodgy detect function
RangeFinder(AP_SerialManager &_serial_manager, enum Rotation orientation_default); RangeFinder(AP_SerialManager &_serial_manager, enum Rotation orientation_default);

3
libraries/AP_RangeFinder/RangeFinder_Backend.cpp
View File

@ -24,8 +24,7 @@ extern const AP_HAL::HAL& hal;
base class constructor. base class constructor.
This incorporates initialisation as well. This incorporates initialisation as well.
*/ */
AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type) : AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type) :
ranger(_ranger),
state(_state), state(_state),
sensor_type(_sensor_type) sensor_type(_sensor_type)
{ {

9
libraries/AP_RangeFinder/RangeFinder_Backend.h
View File

@ -22,7 +22,8 @@ class AP_RangeFinder_Backend
{ {
public: public:
// constructor. This incorporates initialisation as well. // constructor. This incorporates initialisation as well.
AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type); AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state,
MAV_DISTANCE_SENSOR _sensor_type);
// we declare a virtual destructor so that RangeFinder drivers can // we declare a virtual destructor so that RangeFinder drivers can
// override with a custom destructor if need be // override with a custom destructor if need be
@ -31,11 +32,6 @@ public:
// update the state structure // update the state structure
virtual void update() = 0; virtual void update() = 0;
// return true if we are beyond the power saving range
bool out_of_range(void) const {
return ranger._powersave_range > 0 && ranger.estimated_terrain_height > ranger._powersave_range;
}
MAV_DISTANCE_SENSOR get_sensor_type() const { MAV_DISTANCE_SENSOR get_sensor_type() const {
return sensor_type; return sensor_type;
} }
@ -50,7 +46,6 @@ protected:
// set status and update valid_count // set status and update valid_count
void set_status(RangeFinder::RangeFinder_Status status); void set_status(RangeFinder::RangeFinder_Status status);
RangeFinder &ranger;
RangeFinder::RangeFinder_State &state; RangeFinder::RangeFinder_State &state;
MAV_DISTANCE_SENSOR sensor_type; MAV_DISTANCE_SENSOR sensor_type;