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GCS_MAVLink: allow proximity to send only upward facing distances

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this removes the requirement that a horizontal proximity sensor be enabled
This commit is contained in:
Randy Mackay 2019-09-18 20:07:05 +09:00 committed by Andrew Tridgell
parent fb66b8b961
commit 586b1f3c8c
1 changed files with 21 additions and 17 deletions
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38
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -332,30 +332,34 @@ void GCS_MAVLINK::send_rangefinder() const
void GCS_MAVLINK::send_proximity() const
{
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity == nullptr || proximity->get_status() == AP_Proximity::Proximity_NotConnected) {
if (proximity == nullptr) {
return; // this is wrong, but pretend we sent data and don't requeue
}
// get min/max distances
const uint16_t dist_min = (uint16_t)(proximity->distance_min() * 100.0f); // minimum distance the sensor can measure in centimeters
const uint16_t dist_max = (uint16_t)(proximity->distance_max() * 100.0f); // maximum distance the sensor can measure in centimeters
// send horizontal distances
AP_Proximity::Proximity_Distance_Array dist_array;
if (proximity->get_horizontal_distances(dist_array)) {
for (uint8_t i = 0; i < PROXIMITY_MAX_DIRECTION; i++) {
if (!HAVE_PAYLOAD_SPACE(chan, DISTANCE_SENSOR)) {
return;
if (proximity->get_status() == AP_Proximity::Proximity_Good) {
AP_Proximity::Proximity_Distance_Array dist_array;
if (proximity->get_horizontal_distances(dist_array)) {
for (uint8_t i = 0; i < PROXIMITY_MAX_DIRECTION; i++) {
if (!HAVE_PAYLOAD_SPACE(chan, DISTANCE_SENSOR)) {
return;
}
mavlink_msg_distance_sensor_send(
chan,
AP_HAL::millis(), // time since system boot
dist_min, // minimum distance the sensor can measure in centimeters
dist_max, // maximum distance the sensor can measure in centimeters
(uint16_t)(dist_array.distance[i] * 100.0f), // current distance reading
MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum
PROXIMITY_SENSOR_ID_START + i, // onboard ID of the sensor
dist_array.orientation[i], // direction the sensor faces from MAV_SENSOR_ORIENTATION enum
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, 0, nullptr);
}
mavlink_msg_distance_sensor_send(
chan,
AP_HAL::millis(), // time since system boot
dist_min, // minimum distance the sensor can measure in centimeters
dist_max, // maximum distance the sensor can measure in centimeters
(uint16_t)(dist_array.distance[i] * 100.0f), // current distance reading
MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum
PROXIMITY_SENSOR_ID_START + i, // onboard ID of the sensor
dist_array.orientation[i], // direction the sensor faces from MAV_SENSOR_ORIENTATION enum
0, // Measurement covariance in centimeters, 0 for unknown / invalid readings
0, 0, nullptr);
}
}