Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: Small optimizations

This commit is contained in:
rishabsingh3003 2023-08-01 21:37:59 +05:30 committed by Andrew Tridgell
parent a8a8c96610
commit 5aea8317b5
5 changed files with 17 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
View File

@ -32,7 +32,7 @@ protected:
virtual bool handle_frame(AP_HAL::CANFrame &frame) = 0;
// maximum time between readings before we change state to NoData:
virtual uint16_t read_timeout_ms() const { return 200; }
virtual uint32_t read_timeout_ms() const { return 200; }
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return MAV_DISTANCE_SENSOR_RADAR;

3
libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.cpp
View File

@ -1,7 +1,8 @@
#include "AP_RangeFinder_NRA24_CAN.h"
#include "AP_RangeFinder_config.h"
#if AP_RANGEFINDER_NRA24_CAN_ENABLED
#include "AP_RangeFinder_NRA24_CAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_HAL/AP_HAL.h>

2
libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
View File

@ -17,7 +17,7 @@ public:
private:
uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U)/0x10U); }
uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U) >> 4U); }
static RangeFinder_MultiCAN *multican_NRA24;

8
libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.cpp
View File

@ -1,8 +1,8 @@
#include "AP_RangeFinder_TOFSenseP_CAN.h"
#include "AP_RangeFinder_config.h"
#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
#include <GCS_MAVLink/GCS.h>
#include "AP_RangeFinder_TOFSenseP_CAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_HAL/AP_HAL.h>
@ -42,7 +42,7 @@ bool AP_RangeFinder_TOFSenseP_CAN::handle_frame(AP_HAL::CANFrame &frame)
return false;
}
const int32_t dist_cm = (int32_t)(frame.data[0] << 8U | frame.data[1] << 16U | frame.data[2] << 24U) / 2560;
const int32_t dist_mm = (int32_t)(frame.data[0] << 8U | frame.data[1] << 16U | frame.data[2] << 24U) >> 8;
const uint8_t status = frame.data[3];
const uint16_t snr = le16toh_ptr(&frame.data[4]);
@ -51,7 +51,7 @@ bool AP_RangeFinder_TOFSenseP_CAN::handle_frame(AP_HAL::CANFrame &frame)
return false;
}
accumulate_distance_m(dist_cm * 0.01);
accumulate_distance_m(dist_mm * 0.001);
return true;
}

16
libraries/AP_RangeFinder/AP_RangeFinder_config.h
View File

@ -121,6 +121,11 @@
#define AP_RANGEFINDER_NOOPLOOP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
#endif
#ifndef AP_RANGEFINDER_NRA24_CAN_ENABLED
#define AP_RANGEFINDER_NRA24_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#ifndef AP_RANGEFINDER_PWM_ENABLED
#define AP_RANGEFINDER_PWM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
@ -137,6 +142,10 @@
#define AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#ifndef AP_RANGEFINDER_TRI2C_ENABLED
#define AP_RANGEFINDER_TRI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
#endif
@ -157,10 +166,3 @@
#define AP_RANGEFINDER_WASP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_RANGEFINDER_NRA24_CAN_ENABLED
#define AP_RANGEFINDER_NRA24_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif
#ifndef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
#endif