Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Proximity: backend uses modified Boundary_3D interface

Browse Source
This commit is contained in:
Randy Mackay 2020-12-14 16:46:10 +09:00
parent ef9bc64bb1
commit ad899de78c
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Proximity/AP_Proximity_Backend.cpp
View File

@ -31,7 +31,7 @@ AP_Proximity_Backend::AP_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity
{ {
} }
// get distances in PROXIMITY_MAX_DIRECTION directions. used for sending distances to ground station // get distances in PROXIMITY_MAX_DIRECTION directions horizontally. used for sending distances to ground station
bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
{ {
// cycle through all sectors filling in distances and orientations // cycle through all sectors filling in distances and orientations
@ -39,10 +39,9 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
bool valid_distances = false; bool valid_distances = false;
for (uint8_t i=0; i<PROXIMITY_MAX_DIRECTION; i++) { for (uint8_t i=0; i<PROXIMITY_MAX_DIRECTION; i++) {
prx_dist_array.orientation[i] = i; prx_dist_array.orientation[i] = i;
const boundary_location bnd_loc{i}; const AP_Proximity_Boundary_3D::Face face(PROXIMITY_MIDDLE_LAYER, i);
if (boundary.check_distance_valid(bnd_loc)) { if (boundary.get_distance(face, prx_dist_array.distance[i])) {
valid_distances = true; valid_distances = true;
prx_dist_array.distance[i] = boundary.get_distance(bnd_loc);
} else { } else {
prx_dist_array.distance[i] = distance_max(); prx_dist_array.distance[i] = distance_max();
} }