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IRLock: many changes to integrate with PrecLand library 

irlock_center_x_pos calculates the lateral x position of the marker in cm. relative to the quad
irlock_x_pos_to_latlon rotates the frame based x position to latitude/longtitude based coordinates
same case for the y position
add get_angle_to_target method
get_angle_to_target replaces pixel to position calculations
Also removed ahrs reference (now in AC_PrecLand lib), unused references
to orb and commented out parameter declaration
reduce max objects to 5
remove ahrs reference
add timeout
return true if new sample found
bug fix get_angle_to_target
remove unused get_frame
This commit is contained in:
bstone04 2015-02-18 00:47:33 -05:00 committed by Randy Mackay
parent 59928ed677
commit cf8ce867e6
4 changed files with 60 additions and 87 deletions
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52
libraries/AP_IRLock/AP_IRLock_PX4.cpp
View File

@ -29,55 +29,57 @@
#include "AP_HAL.h"
#include "drivers/drv_irlock.h"
#include "uORB/topics/irlock.h"
extern const AP_HAL::HAL& hal;
AP_IRLock_PX4::AP_IRLock_PX4(const AP_AHRS &ahrs) :
IRLock(ahrs),
AP_IRLock_PX4::AP_IRLock_PX4() :
_fd(0),
_last_timestamp(0)
{}
void AP_IRLock_PX4::init()
{
_fd = open(IRLOCK_DEVICE_PATH, O_RDONLY);
_fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY);
if (_fd < 0) {
hal.console->printf("Unable to open " IRLOCK_DEVICE_PATH "\n");
hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n");
return;
}
_flags.healthy = true;
}
void AP_IRLock_PX4::update()
// retrieve latest sensor data - returns true if new data is available
bool AP_IRLock_PX4::update()
{
if (!_flags.healthy)
return;
// return immediately if not healthy
if (!_flags.healthy) {
return false;
}
// struct irlock_s {
// uint64_t timestamp; // microseconds since system start
//
// uint16_t signature;
// uint16_t center_x;
// uint16_t center_y;
// uint16_t width;
// uint16_t height;
// uint16_t angle;
// };
// read position of all objects
struct irlock_s report;
_num_blocks = 0;
uint16_t count = 0;
while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) {
_current_frame[_num_blocks].signature = report.signature;
_current_frame[_num_blocks].center_x = report.center_x;
_current_frame[_num_blocks].center_y = report.center_y;
_current_frame[_num_blocks].width = report.width;
_current_frame[_num_blocks].height = report.height;
_current_frame[count].signature = report.signature;
_current_frame[count].center_x = report.center_x;
_current_frame[count].center_y = report.center_y;
_current_frame[count].width = report.width;
_current_frame[count].height = report.height;
++_num_blocks;
count++;
_last_timestamp = report.timestamp;
_last_update = hal.scheduler->millis();
}
// update num_blocks and implement timeout
if (count > 0) {
_num_blocks = count;
} else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) {
_num_blocks = 0;
}
// return true if new data found
return (_num_blocks > 0);
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4

6
libraries/AP_IRLock/AP_IRLock_PX4.h
View File

@ -13,11 +13,13 @@
class AP_IRLock_PX4 : public IRLock
{
public:
AP_IRLock_PX4(const AP_AHRS &ahrs);
AP_IRLock_PX4();
// init - initialize sensor library
virtual void init();
virtual void update();
// retrieve latest sensor data - returns true if new data is available
virtual bool update();
private:
int _fd;

50
libraries/AP_IRLock/IRLock.cpp
View File

@ -7,32 +7,13 @@
#include "IRLock.h"
// not sure what is going on here...
//const AP_Param::GroupInfo IRLock::var_info[] PROGMEM = {
// // @Param: ENABLE
// // @DisplayName: Optical flow enable/disable
// // @Description: Setting thisto Enabled(1) will enable irlock. Setting this to Disabled(0) will disable irlock.
// // @Values: 0:Disabled, 1:Enabled
// // @user: Standard
// AP_GROUPINFO("_ENABLE", 0, IRLock, _enabled, 0),
//
// AP_GROUPEND
//};
// default constructor
IRLock::IRLock(const AP_AHRS &ahrs) :
_ahrs(ahrs),
IRLock::IRLock() :
_last_update(0),
_num_blocks(0)
{
// can't figure out how to get this to set to enabled, so doing it manually
// AP_Param::setup_object_defaults(this, var_info);
_enabled = true;
// clear the frame buffer
for(int i = 0; i < IRLOCK_MAX_BLOCKS_PER_FRAME; ++i) {
memset(&(_current_frame[i]), 0, sizeof(irlock_block));
}
memset(_current_frame, 0, sizeof(_current_frame));
// will be adjusted when init is called
_flags.healthy = false;
@ -40,22 +21,17 @@ IRLock::IRLock(const AP_AHRS &ahrs) :
IRLock::~IRLock() {}
void IRLock::get_current_frame(irlock_block data[IRLOCK_MAX_BLOCKS_PER_FRAME]) const
// get_angle_to_target - retrieve body frame x and y angles (in radians) to target
// returns true if angles are available, false if not (i.e. no target)
bool IRLock::get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const
{
int index = 0;
for (; index < _num_blocks; ++index) {
data[index].signature = _current_frame[index].signature;
data[index].center_x = _current_frame[index].center_x;
data[index].center_y = _current_frame[index].center_y;
data[index].width = _current_frame[index].width;
data[index].height = _current_frame[index].height;
}
// return false if we have no target
if (_num_blocks == 0) {
return false;
}
for (; index < IRLOCK_MAX_BLOCKS_PER_FRAME; ++index) {
data[index].signature = 0;
data[index].center_x = 0;
data[index].center_y = 0;
data[index].width = 0;
data[index].height = 0;
}
// use data from first object
x_angle_rad = (((float)(_current_frame[0].center_x-IRLOCK_CENTER_X))/IRLOCK_X_PIXEL_PER_DEGREE) * DEG_TO_RAD;
y_angle_rad = (((float)(_current_frame[0].center_y-IRLOCK_CENTER_Y))/IRLOCK_Y_PIXEL_PER_DEGREE) * DEG_TO_RAD;
return true;
}

39
libraries/AP_IRLock/IRLock.h
View File

@ -25,31 +25,32 @@
#include "AP_AHRS.h"
#define IRLOCK_MAX_BLOCKS_PER_FRAME 135
#define IRLOCK_MAX_BLOCKS_PER_FRAME 5 // max number of blobs that can be detected by IR-LOCK sensor (should match PX4Firmware's irlock driver's IRLOCK_OBJECTS_MAX)
#define IRLOCK_CENTER_X 159 // the center x pixel value
#define IRLOCK_CENTER_Y 99 // the center y pixel value
#define IRLOCK_NOBLOB_FRAME 10 // the number of consecutive similar frames that will cause the sensor validity variable to turn false
#define IRLOCK_X_PIXEL_PER_DEGREE 5.374f // the x pixel to angle calibration variable
#define IRLOCK_Y_PIXEL_PER_DEGREE 5.698f // the y pixel to angle calibration variable
#define IRLOCK_TIMEOUT_MS 100 // remove all blocks if no data received within 0.1 seconds
struct _irlock_block {
typedef struct {
uint16_t signature;
uint16_t center_x;
uint16_t center_y;
uint16_t width;
uint16_t height;
};
typedef struct _irlock_block irlock_block;
} irlock_block;
class IRLock
{
public:
IRLock(const AP_AHRS &ahrs);
IRLock();
virtual ~IRLock();
// init - initialize sensor library
// library won't be useable unless this is first called
virtual void init() = 0;
// true if irlock is enabled
bool enabled() const { return _enabled; }
// true if irlock sensor is online and healthy
bool healthy() const { return _flags.healthy; }
@ -59,29 +60,21 @@ public:
// returns the number of blocks in the current frame
size_t num_blocks() const { return _num_blocks; }
// retrieve latest sensor data
virtual void update() = 0;
// retrieve latest sensor data - returns true if new data is available
virtual bool update() = 0;
// copies the current data frame
void get_current_frame(irlock_block data[IRLOCK_MAX_BLOCKS_PER_FRAME]) const;
// parameter var info table
static const struct AP_Param::GroupInfo var_info[];
// get_angle_to_target - retrieve body frame x and y angles (in radians) to target
// returns true if angles are available, false if not (i.e. no target)
bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const;
protected:
struct AP_IRLock_Flags {
uint8_t healthy : 1; // true if sensor is healthy
} _flags;
// external references
const AP_AHRS &_ahrs;
// parameters
AP_Int8 _enabled;
// internals
uint32_t _last_update;
size_t _num_blocks;
uint16_t _num_blocks;
irlock_block _current_frame[IRLOCK_MAX_BLOCKS_PER_FRAME];
};