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Added Michael Pursifull's Maxsonar HRLV model support

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This commit is contained in:
Andreas M. Antonopoulos 2012-07-11 18:46:47 -07:00
parent 7a5544051d
commit d4a0cb5db1
5 changed files with 21 additions and 6 deletions
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4
APMrover2/Parameters.h
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@ -336,7 +336,9 @@ public:
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
AP_Int8 sonar_enabled; AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range) AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
#endif #endif
#endif #endif
AP_Int8 airspeed_enabled; AP_Int8 airspeed_enabled;

4
ArduCopter/Parameters.h
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@ -210,7 +210,9 @@ public:
AP_Int16 RTL_altitude; AP_Int16 RTL_altitude;
AP_Int8 sonar_enabled; AP_Int8 sonar_enabled;
AP_Int8 sonar_type; // 0 = XL, 1 = LV, 2 = XLL (XL with 10m range) AP_Int8 sonar_type; // 0 = XL, 1 = LV,
// 2 = XLL (XL with 10m range)
// 3 = HRLV
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
AP_Float volt_div_ratio; AP_Float volt_div_ratio;
AP_Float curr_amp_per_volt; AP_Float curr_amp_per_volt;

6
ArduCopter/setup.pde
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@ -431,12 +431,12 @@ setup_sonar(uint8_t argc, const Menu::arg *argv)
} else if (!strcmp_P(argv[1].str, PSTR("off"))) { } else if (!strcmp_P(argv[1].str, PSTR("off"))) {
g.sonar_enabled.set_and_save(false); g.sonar_enabled.set_and_save(false);
} else if (argc > 1 && (argv[1].i >= 0 && argv[1].i <= 2)) { } else if (argc > 1 && (argv[1].i >= 0 && argv[1].i <= 3)) {
g.sonar_enabled.set_and_save(true); // if you set the sonar type, surely you want it on g.sonar_enabled.set_and_save(true); // if you set the sonar type, surely you want it on
g.sonar_type.set_and_save(argv[1].i); g.sonar_type.set_and_save(argv[1].i);
}else{ }else{
Serial.printf_P(PSTR("\nOp:[on, off, 0-2]\n")); Serial.printf_P(PSTR("\nOp:[on, off, 0-3]\n"));
report_sonar(); report_sonar();
return 0; return 0;
} }
@ -824,7 +824,7 @@ static void report_sonar()
Serial.printf_P(PSTR("Sonar\n")); Serial.printf_P(PSTR("Sonar\n"));
print_divider(); print_divider();
print_enabled(g.sonar_enabled.get()); print_enabled(g.sonar_enabled.get());
Serial.printf_P(PSTR("Type: %d (0=XL, 1=LV, 2=XLL)"), (int)g.sonar_type); Serial.printf_P(PSTR("Type: %d (0=XL, 1=LV, 2=XLL, 3=HRLV)"), (int)g.sonar_type);
print_blanks(2); print_blanks(2);
} }

5
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
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@ -63,6 +63,11 @@ float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refe
min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE; min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE; max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
break; break;
case AP_RANGEFINDER_MAXSONARHRLV:
type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
break;
} }
_scaler = type_scaler * adc_refence_voltage / 5.0; _scaler = type_scaler * adc_refence_voltage / 5.0;
return _scaler; return _scaler;

6
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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@ -21,6 +21,12 @@
#define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20 #define AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE 20
#define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068 #define AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE 1068
// HRLV-MaxSonar-EZ0 (aka HRLV)
#define AP_RANGEFINDER_MAXSONARHRLV 3
#define AP_RANGEFINDER_MAXSONARHRLV_SCALER 0.512
#define AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE 30
#define AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE 500
class AP_RangeFinder_MaxsonarXL : public RangeFinder class AP_RangeFinder_MaxsonarXL : public RangeFinder
{ {
public: public: