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Rover: implement SONAR_TURN_TIME 

keep turning for at least that time
This commit is contained in:
Andrew Tridgell 2013-03-01 13:06:04 +11:00
parent 318a831b57
commit e228bbfebf
2 changed files with 9 additions and 3 deletions
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8
APMrover2/APMrover2.pde
View File

@ -374,6 +374,10 @@ static uint32_t last_heartbeat_ms;
// Set to true when an obstacle is detected
static bool obstacle = false;
// time when we last detected an obstacle, in milliseconds
static uint32_t obstacle_detected_time_ms;
////////////////////////////////////////////////////////////////////////////////
// Ground speed
////////////////////////////////////////////////////////////////////////////////
@ -627,7 +631,9 @@ static void fast_loop()
if (sonar_dist_cm <= g.sonar_trigger_cm) {
// obstacle detected in front
obstacle = true;
} else {
obstacle_detected_time_ms = hal.scheduler->millis();
} else if (obstacle == true &&
hal.scheduler->millis() > obstacle_detected_time_ms + g.sonar_turn_time*1000) {
obstacle = false;
}
} else {

4
APMrover2/Parameters.pde
View File

@ -268,7 +268,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Sonar trigger angle
// @Description: The course deviation in degrees to apply while avoiding an obstacle detected with the sonar. A positive number means to turn right, and a negative angle means to turn left.
// @Units: centimeters
// @Range: 0 90
// @Range: -90 90
// @Increment: 1
// @User: Standard
GSCALAR(sonar_turn_angle, "SONAR_TURN_ANGLE", 45),
@ -280,7 +280,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
GSCALAR(sonar_turn_time, "SONAR_TURN_TIME", 2.0f),
GSCALAR(sonar_turn_time, "SONAR_TURN_TIME", 1.0f),
// @Param: MODE_CH
// @DisplayName: Mode channel