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Rover: added more sonar parameters

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better control over obstacle avoidance
This commit is contained in:
Andrew Tridgell 2013-03-01 07:15:09 +11:00
parent 06dd6c2790
commit 66abee5544
2 changed files with 38 additions and 5 deletions
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10
APMrover2/Parameters.h
View File

@ -100,6 +100,9 @@ public:
k_param_sonar_trigger = 190,
k_param_sonar_enabled,
k_param_sonar_type,
k_param_sonar_trigger_cm,
k_param_sonar_turn_angle,
k_param_sonar_turn_time,
//
// 210: driving modes
@ -203,8 +206,11 @@ public:
AP_Float sonar_trigger;
AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m
// range),
// 3 = HRLV
// range), // 3 = HRLV
AP_Int16 sonar_trigger_cm;
AP_Float sonar_turn_angle;
AP_Float sonar_turn_time;
// driving modes
//

33
APMrover2/Parameters.pde
View File

@ -248,16 +248,43 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE", 0),
#if CONFIG_SONAR == ENABLED
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_trigger, "SONAR_TRIGGER", SONAR_TRIGGER),
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
// @Param: SONAR_TRIGGER_CM
// @DisplayName: Sonar trigger distance
// @Description: The distance from an obstacle at which the sonar triggers a turn to avoid the obstacle
// @Units: centimeters
// @Range: 0 1000
// @Increment: 1
// @User: Standard
GSCALAR(sonar_trigger_cm, "SONAR_TRIGGER_CM", 100),
// @Param: SONAR_TURN_ANGLE
// @DisplayName: Sonar trigger angle
// @Description: The course deviation in degrees to apply while avoiding an obstacle detected with the sonar. A positive number means to turn right, and a negative angle means to turn left.
// @Units: centimeters
// @Range: 0 90
// @Increment: 1
// @User: Standard
GSCALAR(sonar_turn_angle, "SONAR_TURN_ANGLE", 45),
// @Param: SONAR_TURN_TIME
// @DisplayName: Sonar turn time
// @Description: The amount of time in seconds to apply the SONAR_TURN_ANGLE after detecting an obstacle.
// @Units: seconds
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
GSCALAR(sonar_turn_time, "SONAR_TURN_TIME", 2.0f),
// add sonar scaling, min, max params
GSCALAR(sonar_type, "SONAR_TYPE", AP_RANGEFINDER_MAXSONARXL),
#endif
// @Param: MODE_CH