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AP_Proximity: change PROXIMITY_GND_DETECT_THRESHOLD to param

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HefnySco 2022-09-12 19:36:34 +02:00 committed by Peter Barker
parent 6f29e465b5
commit 2a0b103c2c
3 changed files with 11 additions and 3 deletions
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8
libraries/AP_Proximity/AP_Proximity.cpp
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@ -65,6 +65,14 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
// 19 was _MIN // 19 was _MIN
// 20 was _MAX // 20 was _MAX
// @Param{Copter}: _ALT_MIN
// @DisplayName: Proximity lowest altitude.
// @Description: Minimum altitude below which proximity should not work.
// @Units: m
// @Range: 0 10
// @User: Advanced
AP_GROUPINFO_FRAME("_ALT_MIN", 25, AP_Proximity, _alt_min, 1.0f, AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_HELI | AP_PARAM_FRAME_TRICOPTER),
// @Group: 1 // @Group: 1
// @Path: AP_Proximity_Params.cpp // @Path: AP_Proximity_Params.cpp
AP_SUBGROUPINFO(params[0], "1", 21, AP_Proximity, AP_Proximity_Params), AP_SUBGROUPINFO(params[0], "1", 21, AP_Proximity, AP_Proximity_Params),

1
libraries/AP_Proximity/AP_Proximity.h
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@ -176,6 +176,7 @@ private:
AP_Int8 _raw_log_enable; // enable logging raw distances AP_Int8 _raw_log_enable; // enable logging raw distances
AP_Int8 _ign_gnd_enable; // true if land detection should be enabled AP_Int8 _ign_gnd_enable; // true if land detection should be enabled
AP_Float _filt_freq; // cutoff frequency for low pass filter AP_Float _filt_freq; // cutoff frequency for low pass filter
AP_Float _alt_min; // Minimum altitude -in meters- below which proximity should not work.
// get alt from rangefinder in meters. This reading is corrected for vehicle tilt // get alt from rangefinder in meters. This reading is corrected for vehicle tilt
bool get_rangefinder_alt(float &alt_m) const; bool get_rangefinder_alt(float &alt_m) const;

3
libraries/AP_Proximity/AP_Proximity_Utils.cpp
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@ -20,7 +20,6 @@
#if HAL_PROXIMITY_ENABLED #if HAL_PROXIMITY_ENABLED
#define PROXIMITY_GND_DETECT_THRESHOLD 1.0f // set ground detection threshold to be 1 meters
#define PROXIMITY_ALT_DETECT_TIMEOUT_MS 500 // alt readings should arrive within this much time #define PROXIMITY_ALT_DETECT_TIMEOUT_MS 500 // alt readings should arrive within this much time
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -79,7 +78,7 @@ bool AP_Proximity::check_obstacle_near_ground(float pitch, float yaw, float dist
if (rotated_object_3D.z > -0.5f) { if (rotated_object_3D.z > -0.5f) {
// obstacle is at the most 0.5 meters above vehicle // obstacle is at the most 0.5 meters above vehicle
if ((alt - PROXIMITY_GND_DETECT_THRESHOLD) < rotated_object_3D.z) { if ((alt - _alt_min) < rotated_object_3D.z) {
// obstacle is near or below ground // obstacle is near or below ground
return true; return true;
} }