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AP_Proximity: rename get_distances to get_horizontal_distances

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Also fix existing bug in return
This commit is contained in:
Randy Mackay 2017-04-12 18:00:41 +09:00
parent 09e3d6b7f0
commit 3ad5c3775e
4 changed files with 21 additions and 21 deletions
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20
libraries/AP_Proximity/AP_Proximity.cpp
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@ -323,6 +323,16 @@ bool AP_Proximity::get_horizontal_distance(float angle_deg, float &distance) con
return get_horizontal_distance(primary_instance, angle_deg, distance);
}
// 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);
}
// 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
@ -372,16 +382,6 @@ bool AP_Proximity::get_object_angle_and_distance(uint8_t object_number, float& a
return drivers[primary_instance]->get_object_angle_and_distance(object_number, angle_deg, distance);
}
// get distances in 8 directions. used for sending distances to ground station
bool AP_Proximity::get_distances(Proximity_Distance_Array &prx_dist_array) const
{
if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
return 0.0f;
}
// get distances from backend
return drivers[primary_instance]->get_distances(prx_dist_array);
}
// get maximum and minimum distances (in meters) of primary sensor
float AP_Proximity::distance_max() const
{

18
libraries/AP_Proximity/AP_Proximity.h
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@ -50,6 +50,12 @@ public:
Proximity_Good
};
// structure holding distances in 8 directions. used for sending distances to ground station
struct Proximity_Distance_Array {
uint8_t orientation[8]; // orientation (i.e. rough direction) of the distance (see MAV_SENSOR_ORIENTATION)
float distance[8]; // distance in meters
};
// detect and initialise any available proximity sensors
void init(void);
@ -78,6 +84,9 @@ public:
bool get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const;
bool get_horizontal_distance(float angle_deg, float &distance) const;
// get distances in 8 directions. used for sending distances to ground station
bool get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const;
// 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* get_boundary_points(uint8_t instance, uint16_t& num_points) const;
@ -91,15 +100,6 @@ public:
uint8_t get_object_count() const;
bool get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
// structure holding distances in 8 directions
struct Proximity_Distance_Array {
uint8_t orientation[8]; // orientation (i.e. rough direction) of the distance (see MAV_SENSOR_ORIENTATION)
float distance[8]; // distance in meters
};
// get distances in 8 directions. used for sending distances to ground station
bool get_distances(Proximity_Distance_Array &prx_dist_array) const;
// get maximum and minimum distances (in meters) of primary sensor
float distance_max() const;
float distance_min() const;

2
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -86,7 +86,7 @@ bool AP_Proximity_Backend::get_object_angle_and_distance(uint8_t object_number,
}
// get distances in 8 directions. used for sending distances to ground station
bool AP_Proximity_Backend::get_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
{
// exit immediately if we have no good ranges
bool valid_distances = false;

2
libraries/AP_Proximity/AP_Proximity_Backend.h
View File

@ -62,7 +62,7 @@ public:
bool get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
// get distances in 8 directions. used for sending distances to ground station
bool get_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const;
bool get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const;
protected: