Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: rename CompanionComputer to MAVLink

This commit is contained in:
Randy Mackay 2016-05-04 11:55:05 +09:00
parent 7960e3bb8f
commit c541cb27f8
4 changed files with 24 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.cpp
View File

@ -14,61 +14,60 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RangeFinder_CompanionComputer.h"
#include "AP_RangeFinder_MAVLink.h"
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
/*
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_CompanionComputer::AP_RangeFinder_CompanionComputer(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state)
{
last_update_ms = AP_HAL::millis();
cc_distance_cm = 0;
distance_cm = 0;
}
/*
detect if a CompanionComputer rangefinder is connected. We'll detect by
/*
detect if a MAVLink rangefinder is connected. We'll detect by
checking a paramter.
*/
bool AP_RangeFinder_CompanionComputer::detect(RangeFinder &_ranger, uint8_t instance)
bool AP_RangeFinder_MAVLink::detect(RangeFinder &_ranger, uint8_t instance)
{
//Assume that if the user set the RANGEFINDER_TYPE parameter to CompanionComputer,
//there is an attached companion computer rangefinder
// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
// there is an attached MAVLink rangefinder
return true;
}
/*
Set the distance based on a MAVLINK message
*/
void AP_RangeFinder_CompanionComputer::handle_msg(mavlink_message_t *msg)
void AP_RangeFinder_MAVLink::handle_msg(mavlink_message_t *msg)
{
mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(msg, &packet);
last_update_ms = AP_HAL::millis();
cc_distance_cm = packet.current_distance;
distance_cm = packet.current_distance;
}
/*
/*
update the state of the sensor
*/
void AP_RangeFinder_CompanionComputer::update(void)
void AP_RangeFinder_MAVLink::update(void)
{
//Time out on incoming data; if we don't get new
//data in 500ms, dump it
if(AP_HAL::millis() - last_update_ms > AP_RANGEFINDER_COMPANIONCOMPUTER_TIMEOUT_MS)
{
if(AP_HAL::millis() - last_update_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
set_status(RangeFinder::RangeFinder_NoData);
state.distance_cm = 0;
} else {
set_status(RangeFinder::RangeFinder_Good);
state.distance_cm = cc_distance_cm;
state.distance_cm = distance_cm;
}
}

12
libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.h
View File

@ -4,19 +4,15 @@
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
// min and max distances
#define AP_RANGEFINDER_COMPANIONCOMPUTER_MIN_DISTANCE 0
#define AP_RANGEFINDER_COMPANIONCOMPUTER_MAX_DISTANCE 1400
// Data timeout
#define AP_RANGEFINDER_COMPANIONCOMPUTER_TIMEOUT_MS 500
#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
class AP_RangeFinder_CompanionComputer : public AP_RangeFinder_Backend
class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_CompanionComputer(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
AP_RangeFinder_MAVLink(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance);
@ -28,7 +24,7 @@ public:
void handle_msg(mavlink_message_t *msg);
private:
uint16_t cc_distance_cm;
uint16_t distance_cm;
uint32_t last_update_ms;
// start a reading

6
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -539,10 +539,10 @@ void RangeFinder::detect_instance(uint8_t instance)
}
}
#endif
if (type == RangeFinder_TYPE_CC) {
if (AP_RangeFinder_CompanionComputer::detect(*this, instance)) {
if (type == RangeFinder_TYPE_MAVLink) {
if (AP_RangeFinder_MAVLink::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_CompanionComputer(*this, instance, state[instance]);
drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]);
return;
}
}

4
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -48,7 +48,7 @@ public:
RangeFinder_TYPE_LWI2C = 7,
RangeFinder_TYPE_LWSER = 8,
RangeFinder_TYPE_BEBOP = 9,
RangeFinder_TYPE_CC = 10
RangeFinder_TYPE_MAVLink = 10
};
enum RangeFinder_Function {
@ -107,7 +107,7 @@ public:
// 10Hz from main loop
void update(void);
// Handle an incoming message (for companion computer)
// Handle an incoming DISTANCE_SENSOR message (from a MAVLink enabled range finder)
void handle_msg(mavlink_message_t *msg);
#define _RangeFinder_STATE(instance) state[instance]