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GCS_MAVLink: Send rangefinder data

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This commit is contained in:
Michael du Breuil 2018-05-09 00:46:20 -07:00 committed by Francisco Ferreira
parent f8b10aaa53
commit 805e9519d1
2 changed files with 55 additions and 23 deletions
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9
libraries/GCS_MAVLink/GCS.h
View File

@ -166,10 +166,9 @@ public:
void send_battery_status(const AP_BattMonitor &battery, void send_battery_status(const AP_BattMonitor &battery,
const uint8_t instance) const; const uint8_t instance) const;
bool send_battery_status() const; bool send_battery_status() const;
void send_distance_sensor(const AP_RangeFinder_Backend *sensor) const; bool send_distance_sensor() const;
bool send_distance_sensor(const RangeFinder &rangefinder) const; void send_rangefinder_downward() const;
void send_rangefinder_downward(const RangeFinder &rangefinder) const; bool send_proximity() const;
bool send_proximity(const AP_Proximity &proximity) const;
void send_ahrs2(); void send_ahrs2();
void send_system_time(); void send_system_time();
void send_radio_in(); void send_radio_in();
@ -459,6 +458,8 @@ private:
// send an async parameter reply // send an async parameter reply
void send_parameter_reply(void); void send_parameter_reply(void);
void send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const;
virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0; virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0; virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
void handle_common_mission_message(mavlink_message_t *msg); void handle_common_mission_message(mavlink_message_t *msg);

67
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -223,10 +223,6 @@ bool GCS_MAVLINK::send_battery_status() const
void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const
{ {
if (sensor == nullptr) {
// should not happen
return;
}
if (!sensor->has_data()) { if (!sensor->has_data()) {
return; return;
} }
@ -243,22 +239,47 @@ void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, con
0); // Measurement covariance in centimeters, 0 for unknown / invalid readings 0); // Measurement covariance in centimeters, 0 for unknown / invalid readings
} }
bool GCS_MAVLINK::send_distance_sensor(const RangeFinder &rangefinder) const bool GCS_MAVLINK::send_distance_sensor() const
{ {
RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder == nullptr) {
return true; // this is wrong, but pretend we sent data and don't requeue
}
// if we have a proximity backend that utilizes rangefinders cull sending them here,
// and allow the later proximity code to manage them
bool filter_possible_proximity_sensors = false;
AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity != nullptr) {
for (uint8_t i = 0; i < proximity->num_sensors(); i++) {
if (proximity->get_type(i) == AP_Proximity::Proximity_Type_RangeFinder) {
filter_possible_proximity_sensors = true;
}
}
}
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) { for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) {
CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR); CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR);
AP_RangeFinder_Backend *sensor = rangefinder.get_backend(i); AP_RangeFinder_Backend *sensor = rangefinder->get_backend(i);
if (sensor == nullptr) { if (sensor == nullptr) {
continue; continue;
} }
enum Rotation orient = sensor->orientation();
if (!filter_possible_proximity_sensors ||
(orient > ROTATION_YAW_315 && orient != ROTATION_PITCH_90)) {
send_distance_sensor(sensor, i); send_distance_sensor(sensor, i);
} }
}
return true; return true;
} }
void GCS_MAVLINK::send_rangefinder_downward(const RangeFinder &rangefinder) const void GCS_MAVLINK::send_rangefinder_downward() const
{ {
AP_RangeFinder_Backend *s = rangefinder.find_instance(ROTATION_PITCH_270); RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder == nullptr) {
return;
}
AP_RangeFinder_Backend *s = rangefinder->find_instance(ROTATION_PITCH_270);
if (s == nullptr) { if (s == nullptr) {
return; return;
} }
@ -268,22 +289,25 @@ void GCS_MAVLINK::send_rangefinder_downward(const RangeFinder &rangefinder) cons
s->voltage_mv() * 0.001f); s->voltage_mv() * 0.001f);
} }
bool GCS_MAVLINK::send_proximity(const AP_Proximity &proximity) const bool GCS_MAVLINK::send_proximity() const
{ {
// return immediately if no proximity sensor is present AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity.get_status() == AP_Proximity::Proximity_NotConnected) { if (proximity == nullptr || proximity->get_status() == AP_Proximity::Proximity_NotConnected) {
return false; return true; // this is wrong, but pretend we sent data and don't requeue
} }
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 // send horizontal distances
AP_Proximity::Proximity_Distance_Array dist_array; AP_Proximity::Proximity_Distance_Array dist_array;
if (proximity.get_horizontal_distances(dist_array)) { if (proximity->get_horizontal_distances(dist_array)) {
for (uint8_t i = 0; i < PROXIMITY_MAX_DIRECTION; i++) { for (uint8_t i = 0; i < PROXIMITY_MAX_DIRECTION; i++) {
CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR); CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR);
mavlink_msg_distance_sensor_send( mavlink_msg_distance_sensor_send(
chan, chan,
AP_HAL::millis(), // time since system boot AP_HAL::millis(), // time since system boot
(uint16_t)(proximity.distance_min() * 100.0f), // minimum distance the sensor can measure in centimeters dist_min, // minimum distance the sensor can measure in centimeters
(uint16_t)(proximity.distance_max() * 100.0f), // maximum 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 (uint16_t)(dist_array.distance[i] * 100.0f), // current distance reading
MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum
PROXIMITY_SENSOR_ID_START + i, // onboard ID of the sensor PROXIMITY_SENSOR_ID_START + i, // onboard ID of the sensor
@ -294,13 +318,13 @@ bool GCS_MAVLINK::send_proximity(const AP_Proximity &proximity) const
// send upward distance // send upward distance
float dist_up; float dist_up;
if (proximity.get_upward_distance(dist_up)) { if (proximity->get_upward_distance(dist_up)) {
CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR); CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR);
mavlink_msg_distance_sensor_send( mavlink_msg_distance_sensor_send(
chan, chan,
AP_HAL::millis(), // time since system boot AP_HAL::millis(), // time since system boot
(uint16_t)(proximity.distance_min() * 100.0f), // minimum distance the sensor can measure in centimeters dist_min, // minimum distance the sensor can measure in centimeters
(uint16_t)(proximity.distance_max() * 100.0f), // maximum distance the sensor can measure in centimeters dist_max, // maximum distance the sensor can measure in centimeters
(uint16_t)(dist_up * 100.0f), // current distance reading (uint16_t)(dist_up * 100.0f), // current distance reading
MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum MAV_DISTANCE_SENSOR_LASER, // type from MAV_DISTANCE_SENSOR enum
PROXIMITY_SENSOR_ID_START + PROXIMITY_MAX_DIRECTION + 1, // onboard ID of the sensor PROXIMITY_SENSOR_ID_START + PROXIMITY_MAX_DIRECTION + 1, // onboard ID of the sensor
@ -2672,6 +2696,13 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
ret = true; ret = true;
break; break;
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
send_rangefinder_downward();
ret = send_distance_sensor();
ret = ret && send_proximity();
break;
case MSG_CAMERA_FEEDBACK: case MSG_CAMERA_FEEDBACK:
ret = try_send_camera_message(id); ret = try_send_camera_message(id);
break; break;