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RangeFinder: added SONAR_ENABLE boolean to analog sonar object

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This commit is contained in:
Andrew Tridgell 2013-03-22 07:52:51 +11:00
parent 0e8407ccbd
commit 91bbf914f7
2 changed files with 24 additions and 1 deletions
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21
libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
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@ -63,6 +63,12 @@ const AP_Param::GroupInfo AP_RangeFinder_analog::var_info[] PROGMEM = {
// @Increment: 1 // @Increment: 1
AP_GROUPINFO("MAX_CM", 5, AP_RangeFinder_analog, _max_distance_cm, 700), AP_GROUPINFO("MAX_CM", 5, AP_RangeFinder_analog, _max_distance_cm, 700),
// @Param: ENABLE
// @DisplayName: Sonar enabled
// @Description: set to 1 to enable this sonar
// @Values: 0:Disabled,1:Enabled
AP_GROUPINFO("ENABLE", 6, AP_RangeFinder_analog, _enabled, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -81,6 +87,9 @@ AP_RangeFinder_analog::AP_RangeFinder_analog(void)
*/ */
void AP_RangeFinder_analog::Init(void *adc) void AP_RangeFinder_analog::Init(void *adc)
{ {
if (!_enabled) {
return;
}
if (_source != NULL) { if (_source != NULL) {
return; return;
} }
@ -100,8 +109,11 @@ void AP_RangeFinder_analog::Init(void *adc)
*/ */
float AP_RangeFinder_analog::voltage(void) float AP_RangeFinder_analog::voltage(void)
{ {
if (!_enabled) {
return 0.0f;
}
if (_source == NULL) { if (_source == NULL) {
return 0.0; return 0.0f;
} }
// check for pin changes // check for pin changes
if (_last_pin != 127 && _last_pin != _pin) { if (_last_pin != 127 && _last_pin != _pin) {
@ -116,6 +128,10 @@ float AP_RangeFinder_analog::voltage(void)
*/ */
float AP_RangeFinder_analog::distance_cm(void) float AP_RangeFinder_analog::distance_cm(void)
{ {
if (!_enabled) {
return 0.0f;
}
/* first convert to volts */ /* first convert to volts */
float v = voltage(); float v = voltage();
float dist_m = 0; float dist_m = 0;
@ -150,6 +166,9 @@ float AP_RangeFinder_analog::distance_cm(void)
*/ */
bool AP_RangeFinder_analog::in_range(void) bool AP_RangeFinder_analog::in_range(void)
{ {
if (!_enabled) {
return false;
}
float dist_cm = distance_cm(); float dist_cm = distance_cm();
if (dist_cm >= _max_distance_cm) { if (dist_cm >= _max_distance_cm) {
return false; return false;

4
libraries/AP_RangeFinder/AP_RangeFinder_analog.h
View File

@ -24,6 +24,9 @@ public:
// return true if the sonar is in the configured range // return true if the sonar is in the configured range
bool in_range(void); bool in_range(void);
// return true if enabled
bool enabled(void) { return (bool)_enabled.get(); }
enum RangeFinder_Function { enum RangeFinder_Function {
FUNCTION_LINEAR = 0, FUNCTION_LINEAR = 0,
FUNCTION_INVERTED = 1, FUNCTION_INVERTED = 1,
@ -41,6 +44,7 @@ private:
AP_Int16 _min_distance_cm; AP_Int16 _min_distance_cm;
AP_Int16 _max_distance_cm; AP_Int16 _max_distance_cm;
int8_t _last_pin; int8_t _last_pin;
AP_Int8 _enabled;
}; };
#endif // __AP_RangeFinder_analog_H__ #endif // __AP_RangeFinder_analog_H__