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AP_OADatabase: replace Location with offset from origin

This commit is contained in:
Randy Mackay 2019-12-04 16:16:00 +09:00
parent 449b8d124b
commit fe5ba3ccdb
2 changed files with 15 additions and 11 deletions
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16
libraries/AC_Avoidance/AP_OADatabase.cpp
View File

@ -133,7 +133,7 @@ void AP_OADatabase::update()
} }
// push a location into the database // push a location into the database
void AP_OADatabase::queue_push(const Location &loc, uint32_t timestamp_ms, float angle, float distance) void AP_OADatabase::queue_push(const Vector2f &pos, uint32_t timestamp_ms, float distance)
{ {
if (!healthy()) { if (!healthy()) {
return; return;
@ -144,7 +144,7 @@ void AP_OADatabase::queue_push(const Location &loc, uint32_t timestamp_ms, float
return; return;
} }
const OA_DbItem item = {loc, timestamp_ms, MAX(_radius_min, distance * dist_to_radius_scalar), 0, AP_OADatabase::OA_DbItemImportance::Normal}; const OA_DbItem item = {pos, timestamp_ms, MAX(_radius_min, distance * dist_to_radius_scalar), 0, AP_OADatabase::OA_DbItemImportance::Normal};
{ {
WITH_SEMAPHORE(_queue.sem); WITH_SEMAPHORE(_queue.sem);
_queue.items->push(item); _queue.items->push(item);
@ -328,7 +328,8 @@ bool AP_OADatabase::is_close_to_item_in_database(const uint16_t index, const OA_
return false; return false;
} }
return (_database.items[index].loc.get_distance(item.loc) < item.radius); const float distance_sq = (_database.items[index].pos - item.pos).length_squared();
return ((distance_sq < sq(item.radius)) || (distance_sq < sq(_database.items[index].radius)));
} }
// send ADSB_VEHICLE mavlink messages // send ADSB_VEHICLE mavlink messages
@ -374,12 +375,15 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
continue; continue;
} }
// convert object's position as an offset from EKF origin to Location
const Location item_loc(Vector3f(_database.items[idx].pos.x * 100.0f, _database.items[idx].pos.y * 100.0f, 0));
mavlink_msg_adsb_vehicle_send(chan, mavlink_msg_adsb_vehicle_send(chan,
idx, idx,
_database.items[idx].loc.lat, item_loc.lat,
_database.items[idx].loc.lng, item_loc.lng,
0, // altitude_type 0, // altitude_type
_database.items[idx].loc.alt, 0, // altitude is always zero
0, // heading 0, // heading
0, // hor_velocity 0, // hor_velocity
0, // ver_velocity 0, // ver_velocity

10
libraries/AC_Avoidance/AP_OADatabase.h
View File

@ -1,7 +1,7 @@
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Common/Location.h> #include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#if !HAL_MINIMIZE_FEATURES #if !HAL_MINIMIZE_FEATURES
@ -26,7 +26,7 @@ public:
}; };
struct OA_DbItem { struct OA_DbItem {
Location loc; // location of object. TODO: turn this into Vector2Int to save memory Vector2f pos; // position of the object as an offset in meters from the EKF origin
uint32_t timestamp_ms; // system time that object was last updated uint32_t timestamp_ms; // system time that object was last updated
float radius; // objects radius in meters float radius; // objects radius in meters
uint8_t send_to_gcs; // bitmask of mavlink comports to which details of this object should be sent uint8_t send_to_gcs; // bitmask of mavlink comports to which details of this object should be sent
@ -36,8 +36,8 @@ public:
void init(); void init();
void update(); void update();
// push a location into the database // push an object into the database. Pos is the offset in meters from the EKF origin, angle is in degrees, distance in meters
void queue_push(const Location &loc, uint32_t timestamp_ms, float angle, float distance); void queue_push(const Vector2f &pos, uint32_t timestamp_ms, float distance);
// returns true if database is healthy // returns true if database is healthy
bool healthy() const { return (_queue.items != nullptr) && (_database.items != nullptr); } bool healthy() const { return (_queue.items != nullptr) && (_database.items != nullptr); }
@ -116,7 +116,7 @@ class AP_OADatabase {
public: public:
static AP_OADatabase *get_singleton() { return nullptr; } static AP_OADatabase *get_singleton() { return nullptr; }
void init() {}; void init() {};
void queue_push(const Location &loc, uint32_t timestamp_ms, float angle, float distance) {}; void queue_push(const Vector2f &pos, uint32_t timestamp_ms, float distance) {};
bool healthy() const { return false; } bool healthy() const { return false; }
void send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms) {}; void send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_ms) {};
}; };