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AP_RangeFinder: signal quality reporting

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Peter Barker 2021-11-19 11:03:14 +11:00 committed by Peter Barker
parent a7aa74ab20
commit f6aeb01994
3 changed files with 13 additions and 0 deletions
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4
libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
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@ -64,6 +64,10 @@ public:
// get temperature reading in C. returns true on success and populates temp argument // get temperature reading in C. returns true on success and populates temp argument
virtual bool get_temp(float &temp) const { return false; } virtual bool get_temp(float &temp) const { return false; }
// 0 is no return value, 100 is perfect. false means signal
// quality is not available
virtual bool get_signal_quality_pct(uint8_t &quality_pct) const { return false; }
protected: protected:
// update status based on distance measurement // update status based on distance measurement

2
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
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@ -119,12 +119,14 @@ bool AP_RangeFinder_LightWareSerial::get_reading(float &reading_m)
// return average of all valid readings // return average of all valid readings
if (valid_count > 0) { if (valid_count > 0) {
reading_m = sum / valid_count; reading_m = sum / valid_count;
no_signal = false;
return true; return true;
} }
// all readings were invalid so return out-of-range-high value // all readings were invalid so return out-of-range-high value
if (invalid_count > 0) { if (invalid_count > 0) {
reading_m = MIN(MAX(LIGHTWARE_DIST_MAX_CM, distance_cm_max + LIGHTWARE_OUT_OF_RANGE_ADD_CM), UINT16_MAX) * 0.01f; reading_m = MIN(MAX(LIGHTWARE_DIST_MAX_CM, distance_cm_max + LIGHTWARE_OUT_OF_RANGE_ADD_CM), UINT16_MAX) * 0.01f;
no_signal = true;
return true; return true;
} }

7
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
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@ -16,6 +16,11 @@ protected:
return MAV_DISTANCE_SENSOR_LASER; return MAV_DISTANCE_SENSOR_LASER;
} }
bool get_signal_quality_pct(uint8_t &quality_pct) const override {
quality_pct = no_signal ? 0 : 100;
return true;
}
private: private:
// get a reading // get a reading
bool get_reading(float &reading_m) override; bool get_reading(float &reading_m) override;
@ -35,4 +40,6 @@ private:
} protocol_state; } protocol_state;
uint8_t legacy_valid_count; uint8_t legacy_valid_count;
uint8_t binary_valid_count; uint8_t binary_valid_count;
bool no_signal = false;
}; };