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AP_Proximity: add support for OBSTACLE_DISTANCE message

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Raouf 2018-09-06 19:17:25 +09:00 committed by Randy Mackay
parent 02d37d43d2
commit 8bfb1d2445
1 changed files with 80 additions and 14 deletions
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94
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -57,24 +57,90 @@ bool AP_Proximity_MAV::get_upward_distance(float &distance) const
// handle mavlink DISTANCE_SENSOR messages
void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
{
mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(msg, &packet);
if (msg->msgid == MAVLINK_MSG_ID_DISTANCE_SENSOR) {
mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(msg, &packet);
// store distance to appropriate sector based on orientation field
if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) {
uint8_t sector = packet.orientation;
_angle[sector] = sector * 45;
_distance[sector] = packet.current_distance / 100.0f;
// store distance to appropriate sector based on orientation field
if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) {
uint8_t sector = packet.orientation;
_angle[sector] = sector * 45;
_distance[sector] = packet.current_distance / 100.0f;
_distance_min = packet.min_distance / 100.0f;
_distance_max = packet.max_distance / 100.0f;
_distance_valid[sector] = (_distance[sector] >= _distance_min) && (_distance[sector] <= _distance_max);
_last_update_ms = AP_HAL::millis();
update_boundary_for_sector(sector);
}
// store upward distance
if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_90) {
_distance_upward = packet.current_distance / 100.0f;
_last_upward_update_ms = AP_HAL::millis();
}
return;
}
if (msg->msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE) {
mavlink_obstacle_distance_t packet;
mavlink_msg_obstacle_distance_decode(msg, &packet);
// check increment (message's sector width)
uint8_t increment = packet.increment;
if (packet.increment == 0) {
return;
}
const float MAX_DISTANCE = 9999.0f;
const uint8_t total_distances = MIN(360.0f / increment, 72);
// set distance min and max
_distance_min = packet.min_distance / 100.0f;
_distance_max = packet.max_distance / 100.0f;
_distance_valid[sector] = (_distance[sector] >= _distance_min) && (_distance[sector] <= _distance_max);
_last_update_ms = AP_HAL::millis();
update_boundary_for_sector(sector);
}
// store upward distance
if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_90) {
_distance_upward = packet.current_distance / 100.0f;
_last_upward_update_ms = AP_HAL::millis();
// get user configured yaw correction from front end
const float yaw_correction = constrain_float(frontend.get_yaw_correction(state.instance), -360.0f, +360.0f);
float dir_correction;
if (frontend.get_orientation(state.instance) == 0) {
dir_correction = 1.0f;
} else {
dir_correction = -1.0f;
}
// initialise updated array and proximity sector angles (to closest object) and distances
bool sector_updated[_num_sectors];
float sector_width_half[_num_sectors];
for (uint8_t i = 0; i < _num_sectors; i++) {
sector_updated[i] = false;
sector_width_half[i] = _sector_width_deg[i] * 0.5f;
_angle[i] = _sector_middle_deg[i];
_distance[i] = MAX_DISTANCE;
}
// iterate over message's sectors
for (uint8_t j = 0; j < total_distances; j++) {
const float packet_distance_m = packet.distances[j] * 0.01f;
const float mid_angle = wrap_360(j * increment * dir_correction + yaw_correction);
// iterate over proximity sectors
for (uint8_t i = 0; i < _num_sectors; i++) {
float angle_diff = fabsf(wrap_180(_sector_middle_deg[i] - mid_angle));
// update distance array sector with shortest distance from message
if ((angle_diff <= sector_width_half[i]) && (packet_distance_m < _distance[i])) {
_distance[i] = packet_distance_m;
_angle[i] = mid_angle;
sector_updated[i] = true;
}
}
}
// update proximity sectors validity and boundary point
for (uint8_t i = 0; i < _num_sectors; i++) {
_distance_valid[i] = (_distance[i] >= _distance_min) && (_distance[i] <= _distance_max);
if (sector_updated[i]) {
update_boundary_for_sector(i);
}
}
}
}