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AP_RangeFinder: added Lightware Lidar support

This commit is contained in:
Andrew Tridgell 2015-12-08 20:26:44 +11:00 committed by Randy Mackay
parent 2c612e5f8e
commit f506ffee23
6 changed files with 483 additions and 12 deletions
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85
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp Normal file
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@ -0,0 +1,85 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RangeFinder_LightWareI2C.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_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state)
{
}
/*
detect if a Lightware rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_LightWareI2C::detect(RangeFinder &_ranger, uint8_t instance)
{
uint8_t buff[2];
if (_ranger._address[instance] == 0) {
return false;
}
return hal.i2c->read(_ranger._address[instance], 2, &buff[0]) == 0;
}
// read - return last value measured by sensor
bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
{
uint8_t buff[2];
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
// exit immediately if we can't take the semaphore
if (i2c_sem == NULL || !i2c_sem->take(1)) {
return false;
}
// read the high and low byte distance registers
if (hal.i2c->read(ranger._address[state.instance], 2, &buff[0]) != 0) {
i2c_sem->give();
return false;
}
// combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
// return semaphore
i2c_sem->give();
return true;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_LightWareI2C::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
update_status();
} else {
set_status(RangeFinder::RangeFinder_NoData);
}
}

26
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h Normal file
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_RANGEFINDER_LIGHTWARELRF_H__
#define __AP_RANGEFINDER_LIGHTWARELRF_H__
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance);
// update state
void update(void);
private:
// get a reading
bool get_reading(uint16_t &reading_cm);
};
#endif // __AP_RANGEFINDER_LIGHTWARELRF_H__

99
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp Normal file
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@ -0,0 +1,99 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_RangeFinder_LightWareSerial.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.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_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder &_ranger, uint8_t instance,
RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_ranger, instance, _state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
}
}
/*
detect if a Lightware rangefinder is connected. We'll detect by
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_LightWareSerial::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
}
// read - return last value measured by sensor
bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
{
if (uart == nullptr) {
return false;
}
// read any available lines from the lidar
float sum = 0;
uint16_t count = 0;
int16_t nbytes = uart->available();
while (nbytes-- > 0) {
char c = uart->read();
if (c == '\r') {
linebuf[linebuf_len] = 0;
sum += atof(linebuf);
count++;
linebuf_len = 0;
} else if (isdigit(c) || c == '.') {
linebuf[linebuf_len++] = c;
if (linebuf_len == sizeof(linebuf)) {
// too long, discard the line
linebuf_len = 0;
}
}
}
// we need to write a byte to prompt another reading
uart->write('\n');
if (count == 0) {
return false;
}
reading_cm = 100 * sum / count;
return true;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_LightWareSerial::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
last_reading_ms = hal.scheduler->millis();
update_status();
} else if (hal.scheduler->millis() - last_reading_ms > 200) {
set_status(RangeFinder::RangeFinder_NoData);
}
}

32
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h Normal file
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@ -0,0 +1,32 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_RANGEFINDER_LIGHTWARESERIAL_H__
#define __AP_RANGEFINDER_LIGHTWARESERIAL_H__
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_LightWareSerial(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
// update state
void update(void);
private:
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_reading_ms = 0;
char linebuf[10];
uint8_t linebuf_len = 0;
};
#endif // __AP_RANGEFINDER_LIGHTWARESERIAL_H__

238
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -21,19 +21,23 @@
#include "AP_RangeFinder_PX4.h"
#include "AP_RangeFinder_PX4_PWM.h"
#include "AP_RangeFinder_BBB_PRU.h"
#include "AP_RangeFinder_LightWareI2C.h"
#include "AP_RangeFinder_LightWareSerial.h"
// table of user settable parameters
const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _TYPE
// @DisplayName: Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial
// @User: Standard
AP_GROUPINFO("_TYPE", 0, RangeFinder, _type[0], 0),
// @Param: _PIN
// @DisplayName: Rangefinder pin
// @Description: Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.
// @Values: -1:Not Used, 0:APM2-A0, 1:APM2-A1, 2:APM2-A2, 3:APM2-A3, 4:APM2-A4, 5:APM2-A5, 6:APM2-A6, 7:APM2-A7, 8:APM2-A8, 9:APM2-A9, 11:PX4-airspeed port, 15:Pixhawk-airspeed port, 64:APM1-airspeed port
// @User: Standard
AP_GROUPINFO("_PIN", 1, RangeFinder, _pin[0], -1),
// @Param: _SCALING
@ -41,6 +45,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt
// @Increment: 0.001
// @User: Standard
AP_GROUPINFO("_SCALING", 2, RangeFinder, _scaling[0], 3.0f),
// @Param: _OFFSET
@ -48,12 +53,14 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars
// @Units: Volts
// @Increment: 0.001
// @User: Standard
AP_GROUPINFO("_OFFSET", 3, RangeFinder, _offset[0], 0.0f),
// @Param: _FUNCTION
// @DisplayName: Rangefinder function
// @Description: Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
// @Values: 0:Linear,1:Inverted,2:Hyperbolic
// @User: Standard
AP_GROUPINFO("_FUNCTION", 4, RangeFinder, _function[0], 0),
// @Param: _MIN_CM
@ -61,6 +68,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_MIN_CM", 5, RangeFinder, _min_distance_cm[0], 20),
// @Param: _MAX_CM
@ -68,12 +76,14 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_MAX_CM", 6, RangeFinder, _max_distance_cm[0], 700),
// @Param: _STOP_PIN
// @DisplayName: Rangefinder stop pin
// @Description: Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.
// @Values: -1:Not Used,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
// @User: Standard
AP_GROUPINFO("_STOP_PIN", 7, RangeFinder, _stop_pin[0], -1),
// @Param: _SETTLE
@ -81,19 +91,22 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_SETTLE", 8, RangeFinder, _settle_time_ms[0], 0),
// @Param: _RMETRIC
// @DisplayName: Ratiometric
// @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
// @Values: 0:No,1:Yes
// @User: Standard
AP_GROUPINFO("_RMETRIC", 9, RangeFinder, _ratiometric[0], 1),
// @Param: RNGFND_PWRRNG
// @Param: _PWRRNG
// @DisplayName: Powersave range
// @Description: This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
// @Units: meters
// @Range: 0 32767
// @User: Standard
AP_GROUPINFO("_PWRRNG", 10, RangeFinder, _powersave_range, 0),
// @Param: _GNDCLEAR
@ -102,7 +115,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Units: centimeters
// @Range: 0 127
// @Increment: 1
// @User: Advanced
// @User: Standard
AP_GROUPINFO("_GNDCLEAR", 11, RangeFinder, _ground_clearance_cm[0], RANGEFINDER_GROUND_CLEARANCE_CM_DEFAULT),
// 10..12 left for future expansion
@ -111,13 +124,15 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Param: 2_TYPE
// @DisplayName: Second Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial
// @User: Advanced
AP_GROUPINFO("2_TYPE", 12, RangeFinder, _type[1], 0),
// @Param: 2_PIN
// @DisplayName: Rangefinder pin
// @Description: Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.
// @Values: -1:Not Used, 0:APM2-A0, 1:APM2-A1, 2:APM2-A2, 3:APM2-A3, 4:APM2-A4, 5:APM2-A5, 6:APM2-A6, 7:APM2-A7, 8:APM2-A8, 9:APM2-A9, 11:PX4-airspeed port, 15:Pixhawk-airspeed port, 64:APM1-airspeed port
// @User: Advanced
AP_GROUPINFO("2_PIN", 13, RangeFinder, _pin[1], -1),
// @Param: 2_SCALING
@ -125,6 +140,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt
// @Increment: 0.001
// @User: Advanced
AP_GROUPINFO("2_SCALING", 14, RangeFinder, _scaling[1], 3.0f),
// @Param: 2_OFFSET
@ -132,12 +148,14 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Offset in volts for zero distance
// @Units: Volts
// @Increment: 0.001
// @User: Advanced
AP_GROUPINFO("2_OFFSET", 15, RangeFinder, _offset[1], 0.0f),
// @Param: 2_FUNCTION
// @DisplayName: Rangefinder function
// @Description: Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
// @Values: 0:Linear,1:Inverted,2:Hyperbolic
// @User: Advanced
AP_GROUPINFO("2_FUNCTION", 16, RangeFinder, _function[1], 0),
// @Param: 2_MIN_CM
@ -145,6 +163,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_MIN_CM", 17, RangeFinder, _min_distance_cm[1], 20),
// @Param: 2_MAX_CM
@ -152,12 +171,14 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_MAX_CM", 18, RangeFinder, _max_distance_cm[1], 700),
// @Param: 2_STOP_PIN
// @DisplayName: Rangefinder stop pin
// @Description: Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.
// @Values: -1:Not Used,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
// @User: Advanced
AP_GROUPINFO("2_STOP_PIN", 19, RangeFinder, _stop_pin[1], -1),
// @Param: 2_SETTLE
@ -165,12 +186,14 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_SETTLE", 20, RangeFinder, _settle_time_ms[1], 0),
// @Param: 2_RMETRIC
// @DisplayName: Ratiometric
// @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
// @Values: 0:No,1:Yes
// @User: Advanced
AP_GROUPINFO("2_RMETRIC", 21, RangeFinder, _ratiometric[1], 1),
// @Param: 2_GNDCLEAR
@ -183,13 +206,200 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
AP_GROUPINFO("2_GNDCLEAR", 22, RangeFinder, _ground_clearance_cm[1], RANGEFINDER_GROUND_CLEARANCE_CM_DEFAULT),
#endif
// @Param: _ADDR
// @DisplayName: Bus address of sensor
// @Description: This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.
// @Range: 0 127
// @Increment: 1
// @User: Standard
AP_GROUPINFO("_ADDR", 23, RangeFinder, _address[0], 0),
#if RANGEFINDER_MAX_INSTANCES > 1
// @Param: 2_ADDR
// @DisplayName: Bus address of 2nd rangefinder
// @Description: This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.
// @Range: 0 127
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_ADDR", 24, RangeFinder, _address[1], 0),
#endif
#if RANGEFINDER_MAX_INSTANCES > 2
// @Param: 3_TYPE
// @DisplayName: Second Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial
AP_GROUPINFO("3_TYPE", 25, RangeFinder, _type[2], 0),
// @Param: 3_PIN
// @DisplayName: Rangefinder pin
// @Description: Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.
// @Values: -1:Not Used, 0:APM2-A0, 1:APM2-A1, 2:APM2-A2, 3:APM2-A3, 4:APM2-A4, 5:APM2-A5, 6:APM2-A6, 7:APM2-A7, 8:APM2-A8, 9:APM2-A9, 11:PX4-airspeed port, 15:Pixhawk-airspeed port, 64:APM1-airspeed port
AP_GROUPINFO("3_PIN", 26, RangeFinder, _pin[2], -1),
// @Param: 3_SCALING
// @DisplayName: Rangefinder scaling
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt
// @Increment: 0.001
AP_GROUPINFO("3_SCALING", 27, RangeFinder, _scaling[2], 3.0f),
// @Param: 3_OFFSET
// @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance
// @Units: Volts
// @Increment: 0.001
AP_GROUPINFO("3_OFFSET", 28, RangeFinder, _offset[2], 0.0f),
// @Param: 3_FUNCTION
// @DisplayName: Rangefinder function
// @Description: Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
// @Values: 0:Linear,1:Inverted,2:Hyperbolic
AP_GROUPINFO("3_FUNCTION", 29, RangeFinder, _function[2], 0),
// @Param: 3_MIN_CM
// @DisplayName: Rangefinder minimum distance
// @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
AP_GROUPINFO("3_MIN_CM", 30, RangeFinder, _min_distance_cm[2], 20),
// @Param: 3_MAX_CM
// @DisplayName: Rangefinder maximum distance
// @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
AP_GROUPINFO("3_MAX_CM", 31, RangeFinder, _max_distance_cm[2], 700),
// @Param: 3_STOP_PIN
// @DisplayName: Rangefinder stop pin
// @Description: Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.
// @Values: -1:Not Used,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("3_STOP_PIN", 32, RangeFinder, _stop_pin[2], -1),
// @Param: 3_SETTLE
// @DisplayName: Sonar settle time
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds
// @Increment: 1
AP_GROUPINFO("3_SETTLE", 33, RangeFinder, _settle_time_ms[2], 0),
// @Param: 3_RMETRIC
// @DisplayName: Ratiometric
// @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
// @Values: 0:No,1:Yes
AP_GROUPINFO("3_RMETRIC", 34, RangeFinder, _ratiometric[2], 1),
// @Param: 3_GNDCLEAR
// @DisplayName: Distance (in cm) from the second range finder to the ground
// @Description: This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground.
// @Units: centimeters
// @Range: 0 127
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("3_GNDCLEAR", 35, RangeFinder, _ground_clearance_cm[2], RANGEFINDER_GROUND_CLEARANCE_CM_DEFAULT),
#endif
#if RANGEFINDER_MAX_INSTANCES > 3
// @Param: 3_ADDR
// @DisplayName: Bus address of 2nd rangefinder
// @Description: This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.
// @Range: 0 127
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("3_ADDR", 36, RangeFinder, _address[2], 0),
// @Param: 4_TYPE
// @DisplayName: Second Rangefinder type
// @Description: What type of rangefinder device that is connected
// @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial
AP_GROUPINFO("4_TYPE", 37, RangeFinder, _type[3], 0),
// @Param: 4_PIN
// @DisplayName: Rangefinder pin
// @Description: Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.
// @Values: -1:Not Used, 0:APM2-A0, 1:APM2-A1, 2:APM2-A2, 3:APM2-A3, 4:APM2-A4, 5:APM2-A5, 6:APM2-A6, 7:APM2-A7, 8:APM2-A8, 9:APM2-A9, 11:PX4-airspeed port, 15:Pixhawk-airspeed port, 64:APM1-airspeed port
AP_GROUPINFO("4_PIN", 38, RangeFinder, _pin[3], -1),
// @Param: 4_SCALING
// @DisplayName: Rangefinder scaling
// @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
// @Units: meters/Volt
// @Increment: 0.001
AP_GROUPINFO("4_SCALING", 39, RangeFinder, _scaling[3], 3.0f),
// @Param: 4_OFFSET
// @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance
// @Units: Volts
// @Increment: 0.001
AP_GROUPINFO("4_OFFSET", 40, RangeFinder, _offset[3], 0.0f),
// @Param: 4_FUNCTION
// @DisplayName: Rangefinder function
// @Description: Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
// @Values: 0:Linear,1:Inverted,2:Hyperbolic
AP_GROUPINFO("4_FUNCTION", 41, RangeFinder, _function[3], 0),
// @Param: 4_MIN_CM
// @DisplayName: Rangefinder minimum distance
// @Description: Minimum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
AP_GROUPINFO("4_MIN_CM", 42, RangeFinder, _min_distance_cm[3], 20),
// @Param: 4_MAX_CM
// @DisplayName: Rangefinder maximum distance
// @Description: Maximum distance in centimeters that rangefinder can reliably read
// @Units: centimeters
// @Increment: 1
AP_GROUPINFO("4_MAX_CM", 43, RangeFinder, _max_distance_cm[3], 700),
// @Param: 4_STOP_PIN
// @DisplayName: Rangefinder stop pin
// @Description: Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.
// @Values: -1:Not Used,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("4_STOP_PIN", 44, RangeFinder, _stop_pin[3], -1),
// @Param: 4_SETTLE
// @DisplayName: Sonar settle time
// @Description: The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
// @Units: milliseconds
// @Increment: 1
AP_GROUPINFO("4_SETTLE", 45, RangeFinder, _settle_time_ms[3], 0),
// @Param: 4_RMETRIC
// @DisplayName: Ratiometric
// @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
// @Values: 0:No,1:Yes
AP_GROUPINFO("4_RMETRIC", 46, RangeFinder, _ratiometric[3], 1),
// @Param: 4_GNDCLEAR
// @DisplayName: Distance (in cm) from the second range finder to the ground
// @Description: This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground.
// @Units: centimeters
// @Range: 0 127
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("4_GNDCLEAR", 47, RangeFinder, _ground_clearance_cm[3], RANGEFINDER_GROUND_CLEARANCE_CM_DEFAULT),
// @Param: 4_ADDR
// @DisplayName: Bus address of 2nd rangefinder
// @Description: This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.
// @Range: 0 127
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("4_ADDR", 48, RangeFinder, _address[3], 0),
#endif
AP_GROUPEND
};
RangeFinder::RangeFinder(void) :
RangeFinder::RangeFinder(AP_SerialManager &_serial_manager) :
primary_instance(0),
num_instances(0),
estimated_terrain_height(0)
estimated_terrain_height(0),
serial_manager(_serial_manager)
{
AP_Param::setup_object_defaults(this, var_info);
@ -281,6 +491,13 @@ void RangeFinder::detect_instance(uint8_t instance)
return;
}
}
if (type == RangeFinder_TYPE_LWI2C) {
if (AP_RangeFinder_LightWareI2C::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareI2C(*this, instance, state[instance]);
return;
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
if (type == RangeFinder_TYPE_PX4) {
if (AP_RangeFinder_PX4::detect(*this, instance)) {
@ -306,6 +523,13 @@ void RangeFinder::detect_instance(uint8_t instance)
}
}
#endif
if (type == RangeFinder_TYPE_LWSER) {
if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager);
return;
}
}
if (type == RangeFinder_TYPE_ANALOG) {
// note that analog must be the last to be checked, as it will
// always come back as present if the pin is valid

15
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -21,6 +21,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_SerialManager/AP_SerialManager.h>
// Maximum number of range finder instances available on this platform
#define RANGEFINDER_MAX_INSTANCES 2
@ -35,7 +36,7 @@ class RangeFinder
public:
friend class AP_RangeFinder_Backend;
RangeFinder(void);
RangeFinder(AP_SerialManager &_serial_manager);
// RangeFinder driver types
enum RangeFinder_Type {
@ -45,7 +46,9 @@ public:
RangeFinder_TYPE_PLI2C = 3,
RangeFinder_TYPE_PX4 = 4,
RangeFinder_TYPE_PX4_PWM= 5,
RangeFinder_TYPE_BBB_PRU= 6
RangeFinder_TYPE_BBB_PRU= 6,
RangeFinder_TYPE_LWI2C = 7,
RangeFinder_TYPE_LWSER = 8
};
enum RangeFinder_Function {
@ -87,6 +90,7 @@ public:
AP_Int16 _min_distance_cm[RANGEFINDER_MAX_INSTANCES];
AP_Int16 _max_distance_cm[RANGEFINDER_MAX_INSTANCES];
AP_Int8 _ground_clearance_cm[RANGEFINDER_MAX_INSTANCES];
AP_Int8 _address[RANGEFINDER_MAX_INSTANCES];
AP_Int16 _powersave_range;
static const struct AP_Param::GroupInfo var_info[];
@ -106,7 +110,7 @@ public:
#define _RangeFinder_STATE(instance) state[instance]
uint16_t distance_cm(uint8_t instance) const {
return _RangeFinder_STATE(instance).distance_cm;
return (instance<num_instances? _RangeFinder_STATE(instance).distance_cm : 0);
}
uint16_t distance_cm() const {
return distance_cm(primary_instance);
@ -177,9 +181,10 @@ public:
private:
RangeFinder_State state[RANGEFINDER_MAX_INSTANCES];
AP_RangeFinder_Backend *drivers[RANGEFINDER_MAX_INSTANCES];
uint8_t primary_instance:2;
uint8_t num_instances:2;
uint8_t primary_instance:3;
uint8_t num_instances:3;
float estimated_terrain_height;
AP_SerialManager &serial_manager;
void detect_instance(uint8_t instance);
void update_instance(uint8_t instance);