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29 Commits

Author SHA1 Message Date
Randy Mackay b43f23561f AP_Proximity: validate range finder distances 2017-06-15 10:11:03 +09:00
Randy Mackay 3ad5c3775e AP_Proximity: rename get_distances to get_horizontal_distances 
Also fix existing bug in return
 2017-04-20 18:11:43 +09:00
Randy Mackay 09e3d6b7f0 AP_Proximity_MAV: healthy if either horiz or vert positions received 2017-04-20 18:11:43 +09:00
Randy Mackay fd94ab43fa AP_Proximity: minor fix to param description 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay a093bcb05f AP_Proximity: add rangefinder driver 
This allows avoidance using upward or forward facing range finders
 2017-02-27 15:18:09 +09:00
Luis Rodrigues 27c5aca6b5 AP_Proximity: add support for TeraRangerTower 2017-02-03 14:27:52 +09:00
Randy Mackay a47e215a8e AP_Proximity: add get_upward_distance 
This allow support for upward facing proximity sensor received through a DISTANCE_SENSOR message.
Also added SITL test
 2017-01-18 09:35:47 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bebb128d22 AP_Proximity: Add missing parameter units 2017-01-16 19:07:27 +00:00
Randy Mackay 6aeef76768 AP_Proximity: fix get_boundary_points in case of multiple sensors 2017-01-16 16:38:18 +09:00
Randy Mackay 7c7144fd8f AP_Proximity: minor comment spelling fix 2017-01-11 21:48:23 +09:00
Randy Mackay 74f1899aeb AP_Proximity: boundary_points requires only one valid distance 
Object avoidance is possible with just one valid distance
Boundary is initialised in new init_boundary function to be 100m from
vehicle
If sectors do not have valid distance measurements, we use the distance
from adjacent sectors.  This conveniently leads to a concave shaped
boundary that keeps the vehicle from travelling into the dataless sector.
 2017-01-11 21:48:23 +09:00
Randy Mackay a0a8472a44 AP_Proximity: fix consumption of distance-sensor messages 2017-01-11 21:48:23 +09:00
Randy Mackay d4daa10045 AP_Proximity: add MAV type to parameter descriptions 2017-01-10 11:00:00 +09:00
murata c2521dd650 AP_Proximity: Change sprintf method to secure snprintf method. 2017-01-07 02:33:46 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 8419045aea Spell in comments 2017-01-06 10:57:39 -08:00
Randy Mackay e497dedf35 AP_Proximity: add MAV type 
This accepts DISTANCE_SENSOR messages from eight sectors around the vehicle
 2016-12-27 08:37:48 +09:00
Randy Mackay 2076da3a72 AP_Proximity: minor comment fix 
No functional change
 2016-12-24 13:55:28 +09:00
Randy Mackay fbbd13db75 AP_Proximity: add get_object methods for use with non-GPS avoidance 2016-12-20 19:47:56 +09:00
Randy Mackay 54a87ad35c AP_Proximity: set minimum boundary distance 
AC_Avoidance will not stop if it thinks the vehicle is on or outside the polygon.  Setting a minimum distance ensures the vehicle is always within the polygon.
 2016-11-27 15:05:48 +09:00
Randy Mackay 57ae14ab4c AP_Proximity: add get distances, distance_max, distance_min 
These are used to send distance-sensor messages to the ground station
 2016-11-27 15:05:45 +09:00
Randy Mackay 6293fa1595 AP_Proximity: add boundary points for object avoidance 
This returns a fence which can be used for object avoidance by AC_Avoidance
 2016-11-27 15:05:35 +09:00
Randy Mackay 26332251f5 AP_Proximity: add ignore areas 
Only SF40c uses these ignore areas for now at least.
It is safe to increase the eeprom locations for the 2nd proximity instance because we only define a single instance.
 2016-11-27 15:05:27 +09:00
Randy Mackay 87dea46f5d AP_Proximity: add get_closet_object for use in pre-arm checks 2016-11-27 12:03:06 +09:00
Randy Mackay a56c9545bd AP_Proximity: SITL driver filles in backend sector data 2016-11-27 12:03:04 +09:00
Randy Mackay f594a5a7d6 AP_Proximity: move sectors to backend 
This prepares for sectors to be re-used by the SITL driver
 2016-11-27 12:03:01 +09:00
Andrew Tridgell ae2dc5570e AP_Proximity: added SITL proximity backend 
using fence points for avoidance
 2016-11-14 15:53:43 +09:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Randy Mackay c3087edbe8 AP_Proximity: add library and SF40C driver 2016-10-13 20:21:07 +09:00