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479 Commits

Author SHA1 Message Date
Andrew Tridgell 7dcb5c60b0 AP_RangeFinder: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER 
this makes for cleaner and smaller code as the failure case is not
needed
 2020-01-19 20:19:30 +11:00
Randy Mackay bcef478eab AP_RangeFinder: update OFFSET param description to clarify only for analog and pwm 2020-01-18 14:15:20 +09:00
Randy Mackay 2bdb2f67ab AP_RangeFinder: PWM driver adds offset param value 2020-01-18 14:15:20 +09:00
Michael du Breuil d92c4dc892 AP_Rangefinder: Fix bad subgroup pointer for drivers 2020-01-15 12:13:44 +11:00
Rishabh fd2c6baf5d AP_RangeFinder: added RNGFNDx_TYPE parameter description for the Lanbao lidar 2020-01-13 20:34:48 +11:00
Michael du Breuil 8bd4f2b097 AP_RangeFinder: Allow the VL53L1X to be put into short range mode 2019-12-24 11:40:47 +11:00
Michael du Breuil 224ea744e3 AP_Rangefinder: Reset the VL53L1X before setup 
A number of the config steps make the assumption they are running from
the sensors default power on state. If you do a soft reset of the
vehicle without killing power to the sensor this means the second time
you configure the sensor you will start from a state which didn't match
the base assumptions and can lead to the sensor preforming signficantly
differently then it was intended to. This issues a soft reset, and waits
for it to reboot before proceeding with configuration. If it's a
watchdog reset we don't want to spend long enough to have ensured the
sensor reset, so we say the sensor setup completely failed and don't use
it, as not using it will be less erroneous then using a misconfigured
sensor.
 2019-12-24 11:40:47 +11:00
Randy Mackay e12e0d95ae AP_RangeFinder: remove param conversion for 3rd and 4th 
3rd and 4th instances were not available to users unless they used their own builds which is rare
this reduces the firmware's flash size a small amount
 2019-12-03 13:06:10 +08:00
Randy Mackay 1b84c8132e AP_RangeFinder: param conversion fix 
This resolves an issue with the parameter conversion when moving from Copter-3.6.x to 4.0 (and similar moves for other vehicle types)
 2019-12-03 13:06:10 +08:00
Randy Mackay 0844077df8 AP_RangeFinder: TYPE param desc clarification for Benewake lidar 
This renames some of the TYPE parameter's driver options:

19 :BenewakeTF02 is unchanged
20: BenewakeTFMini becomes BenewakeTFMini/Plus-Serial
25: BenewakeTFMiniPlus becomes BenewakeTFMini/Plus-I2C
27: BenewakeTF03 is unchanged
 2019-11-13 10:28:17 +08:00
Randy Mackay ae8f9a70d0 AP_RangeFinder: update Type and Pin parameter values 
The _TYPE change is to remove the "v2" from the LidarLite description because both v2 and v3 are supported
The _PIN change is to make it more clear that any of the auxiliary pwm pins can be used for PWM input
 2019-11-12 07:30:55 +08:00
Peter Barker 35e987c663 AP_RangeFinder: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Peter Barker 7c9ab0203d AP_RangeFinder: rename source files to include AP_ prefix 
This makes them look like most of our libraries
 2019-11-12 07:14:37 +08:00
Peter Barker b1f8982292 AP_RangeFinder: remove old AP_RangeFinder.h 
Making way to move the actual header into place
 2019-11-12 07:14:37 +08:00
Peter Barker d0e62b0e0b AP_RangeFinder: serial subclasses rely on base class for update() 2019-11-09 08:01:53 +11:00
Peter Barker 60cbefc1ae AP_RangeFinder: move update function to serial base class 2019-11-09 08:01:53 +11:00
Peter Barker b18f1a8e22 AP_RangeFinder: move uLanding to using common serial backend 2019-11-09 08:01:53 +11:00
Peter Barker 9829a1d08b AP_RangeFinder: move wasp to using common serial backend 2019-11-09 08:01:53 +11:00
Peter Barker 62f2f3e19e AP_RangeFinder: factor constructor, use to move Lanbao to serial baseclass 2019-11-09 08:01:53 +11:00
Peter Barker acc1f955ef AP_RangeFinder: make Benewake backend use new intermediate class 2019-11-09 08:01:53 +11:00
Peter Barker 0246dd990e AP_RangeFinder: make MaxsonarSerialLV backend use new intermediate class 2019-11-09 08:01:53 +11:00
Peter Barker ff7c5af437 AP_RangeFinder: make LeddarOne backend use new intermediate class 2019-11-09 08:01:53 +11:00
Peter Barker 15d3a59d67 AP_RangeFinder: make NMEA backend use new intermediate class 2019-11-09 08:01:53 +11:00
Peter Barker 82268ab12c AP_RangeFinder: make BLPing backend use new intermediate class 2019-11-09 08:01:53 +11:00
Peter Barker 692c89a972 AP_RangeFinder: make LightWareSerial backend use new intermediate class 2019-11-09 08:01:53 +11:00
Peter Barker 3538fe360b AP_RangeFinder: add intermediate serial backend class to share common code 2019-11-09 08:01:53 +11:00
Peter Barker 82db4383d4 AP_RangeFinder: use enum-class for Status 2019-11-09 08:01:53 +11:00
Peter Barker 1989decbc1 AP_RangeFinder: use enum-class for RangeFinder function 2019-11-09 08:01:53 +11:00
Peter Barker db36ef3433 Sub: use enum-class for RangeFinder type 2019-11-09 08:01:53 +11:00
Peter Barker ea26e94f66 AP_RangeFinder: use enum-class for RangeFinder type 2019-11-09 08:01:53 +11:00
Andrew Tridgell 76dd2f0838 AP_RangeFinder: fixed failover between rangefinders 
this fixes the case where we have one rangefinder that can handle
short range and another that is good for long range but no good for
short range (quite common, eg radar and lidar)

If possible we want to use the first rangefinder that is in range for
the right orientation. If none are in range then use the first for the
orientation
 2019-10-28 21:13:18 +11:00
Andrew Tridgell 5898dc757c AP_RangeFinder: use single precision string to float 2019-10-28 15:53:16 +11:00
Andrew Tridgell 2818151a39 AP_RangeFinder: disable some incompatible drivers for AP_Periph 2019-10-25 09:35:27 +11:00
Andrew Tridgell ca1bd8be3c AP_RangeFinder: disable logging for AP_Periph 2019-10-21 19:12:01 +11:00
Andrew Tridgell 282936eab2 AP_RangeFinder: allow for less rangefinder instances 
for AP_Periph
 2019-10-21 19:12:01 +11:00
murata 000aa4f515 AP_RangeFinder: Add TF03-180 2019-10-15 10:07:53 +09:00
Lucas De Marchi 7520cdef2f AP_RangeFinder: update minimum fw version of TFMiniPlus 
Version 2.0.3 has important fixes to avoid having the sensor to lock up.
Let's make sure we check for it and warn on console.
 2019-09-23 12:56:13 +09:00
Lucas De Marchi 5f65033511 AP_RangeFinder: add missing overrides 2019-09-21 08:01:08 +10:00
Lucas De Marchi ce877ba40a AP_RangeFinder: fix build 2019-09-21 08:01:08 +10:00
Andrew Tridgell 54b9524c0b AP_RangeFinder: make LightWare I2C native work with more hw versions 
this allows the native i2c lightware driver to work with a wide range
of lidars from LightWare, removing the specific version check, and the
version specific config commands
 2019-09-12 07:40:32 +10:00
Michael du Breuil c12652b325 AP_Rangefinder: Remove stop pin usage 2019-09-04 09:54:50 +10:00
Andrew Tridgell 9c900c7176 AP_RangeFinder: added driver for Lanbao CM8JL65 2019-09-03 09:10:48 +10:00
Andrew Tridgell 172c802ffa AP_RangeFinder: support native I2C protocol on LightWare Lidars 
this supports both the native and the legacy I2C protocol for
LightWare Lidars. The native protocol is a string based protocol that
is enabled by default on new Lidars. By supporting both protocols we
avoid the need for users to re-configure their new lidar using a
serial cable before using it on I2C.

This driver was originally written by Mitch Koch and Jonathan
Challinger, and ported to master by me (it required only minor
changes)
 2019-09-02 07:20:22 +10:00
murata 4754710e60 RangeFinder: Change to coding style (NFC) 
RangeFinder: RangeFinder: Change to coding style (NFC)
 2019-08-23 10:11:30 +09:00
murata 851ee24c99 AP_RangeFinder: Clarify the purpose of input registers 2019-08-20 14:36:29 +01:00
murata 0b1987ae36 AP_RangeFinder: Use common hexadecimal to character number conversion method 2019-08-06 10:14:12 +10:00
Randy Mackay 01a713a812 AP_RangeFinder: param desc rename from PX4-PWM to just PWM 
the PWM driver is available for many boards
 2019-08-04 21:15:49 +10:00
Andrew Tridgell 0f6b8375bb AP_RangeFinder: added a 1.5 delay to probe of LW20 I2C 
the LW20 takes a long time to boot and be ready to probe
 2019-07-30 13:32:36 +10:00
Michael du Breuil 3202a2e0a6 AP_Rangefinder: Add arming checks 2019-07-30 10:42:16 +10:00
Randy Mackay 84b502b0c4 AP_RangeFinder: resolve gcs::send_text compiler warning 2019-07-30 09:02:39 +09:00
Randy Mackay 480a3ebb03 AP_RangeFinder: LightwareSerial driver handles invalid distances 
reports the longer of 100m or RNGFNDx_MAX_CM+1m
 2019-07-30 08:05:35 +09:00
Pierre Kancir c4ec373b20 AP_RangeFinder: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Peter Barker ac96461c6c AP_RangeFinder: use AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
murata d7b2271197 AP_RangeFinder: Common modbus crc method 2019-07-12 15:33:21 +10:00
Pierre Kancir 209b0300a5 AP_Rangefinder: fix compilation for Bebop 2019-06-14 18:56:05 -07:00
Peter Barker 68d7e0c22f AP_RangeFinder: correct macro being used for parameter definition 2019-06-11 12:47:56 +10:00
Peter Barker 8cd5e3103f AP_RangeFinder: remove use of removed AP_PARAM_FLAG_IGNORE_ENABLE 2019-06-11 11:38:10 +09:00
Peter Barker 4c88a1e9de AP_RangeFinder: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Tatsuya Yamaguchi 18a43601cd RangeFinder: Add up to 10 RangeFinder logs 2019-06-04 19:11:11 +10:00
Lucas De Marchi 4f73881c4b AP_RangeFinder: TFMiniPlus: enforce minimum version 1.7.6 
On this version of the firmware the command changed - support the new
command and only that one: it's not expected to have devices with the
older versions.
 2019-05-24 01:47:04 -07:00
Lucas De Marchi b3a8496613 AP_RangeFinder: add support for Benewake TFMini Plus on I2C 
This was tested with firmware 1.7.0 on the sensor.
 2019-05-24 01:47:04 -07:00
alancaro2013 a1557184d5 AP_RangeFinder: Modified uLanding parse to check device version. 
US-D1 version ID was changed to 2 from 0. This alteration will prevent
past US-D1s, with version ID 0, from being 3-byte parsed.
 2019-05-22 08:20:42 +10:00
Peter Barker 93c33fda1d RangeFinder: correct bad include of old semaphore library 2019-05-15 19:34:31 +09:00
Siddharth Purohit 479c238177 RangeFinder: add support for rangefinder sensor over can 2019-05-15 16:01:53 +09:00
Andrew Tridgell 09792d3056 AP_RangeFinder: removed unusued AP_Common/Semaphore.h 2019-05-15 15:33:48 +10:00
Michael du Breuil 85da4955b6 AP_Rangefinder: Enforce checking I2C status on VL53L1X 2019-05-05 12:12:05 -07:00
Michael du Breuil b31cd1adb5 AP_RangeFinder: Remove pre arm distance check 2019-04-16 11:00:32 +09:00
Michael du Breuil 6dd05db3b7 AP_Rangefinder: Fix VL53L1X ignoring return status 2019-04-12 17:23:19 +10:00
murata 49b0a00182 AP_RangeFinder: Delete unnecessary judgment 2019-04-11 06:11:47 -07:00
Peter Barker dd567ad18a AP_RangeFinder: handle RFND logging 2019-04-09 22:17:58 +10:00
Adolfo 428d4d4574 AP_RangeFinder: fixed TeraRangerI2C refresh rate and status 2019-04-09 12:22:19 +10:00
Randy Mackay 5e9aebd678 AP_RangeFinder: BlueRobotics Ping driver 2019-04-08 09:43:41 +09:00
Randy Mackay 65966ac957 AP_RangeFinder: add LidarLitev3HP and PWM to TYPE param desc 2019-04-08 09:43:41 +09:00
Michael du Breuil 21b64ad19b AP_Rangefinder: Remove parameter manipulation from initializer 2019-04-06 09:15:22 +11:00
Michael du Breuil 49d20d4b4f AP_Rangefinder: Remove unused AP_Math header 2019-04-05 20:12:53 +11:00
Pierre Kancir 37d121ae02 AP_RangeFinder: remove useless includes 2019-03-26 10:27:54 +11:00
Andrew Tridgell ccfaaca82b AP_RangeFinder: fixed lightware serial with LW20 lidar 
it needs a longer serial write to force it to serial mode from i2c
 2019-02-23 11:01:07 +11:00
Peter Barker b0c65b9014 AP_RangeFinder_PWM: correct integer division issue 2019-02-20 17:50:46 +11:00
Andrew Tridgell bf4dc2d3b7 AP_RangeFinder: probe all I2C buses for rangefinders 
we now have flight boards with up to 4 I2C buses, and probing only 2
of them causes user confusion
 2019-02-12 13:07:24 +11:00
Randy Mackay a72477590f AP_RangeFinder: format fixes 2019-02-04 11:32:13 +09:00
Dmitri Ranfft f8af5afc53 RangeFinder: Removed the 3 bit limitation for the enumeration 2019-02-04 11:08:50 +09:00
Dmitri Ranfft 5eff01a86f RangeFinder: allow up to 10 range finders to be used at once 2019-02-04 11:08:47 +09:00
Peter Barker d71244dd23 APM_RangeFinder: remove PX4 backend type 2019-01-17 12:30:56 +11:00
Peter Barker f037629fc3 RangeFinder: understand stop pin for AP_RangeFinder_PWM backend 2019-01-10 16:28:14 +11:00
Julien Beraud e165e9c323 AP_RangeFinder: fix bebop rangefinder 
Fix Backend constructor call
 2018-12-22 08:44:50 +09:00
Nghia Nguyen 60250e4c49 AP_Rangefinder: Add support for ST VL53L1X 2018-12-17 14:00:31 +09:00
Randy Mackay fbf072d84b AP_RangeFinder: add range to POS param description 2018-12-13 20:14:05 +09:00
Michael du Breuil 52d6353e33 AP_Rangefinder: Remove unused members 2018-11-27 07:36:17 +11:00
Randy Mackay 6816262e3d AP_RangeFinder: benewake tfmini always provide cm distances 
a misunderstanding of the datasheet led to the mistaken idea that while in short-range-mode the distances were returned in millimeters
 2018-11-21 08:38:31 +09:00
Randy Mackay f5a9fdaf42 RangeFinder: benewake buffer uses uint8_t 2018-11-19 11:33:48 +09:00
Randy Mackay e9c1abfc3c AP_RangeFinder: fix benewake checksum check 2018-11-15 09:18:45 +09:00
Randy Mackay 123e10c058 AP_RangeFinder: benewake returns at least 12m or 22m when out-of-range 
value logged and shown to the user will be at least 12m for TFmini or 22m for TF02 which ensure the user won't see the range drop even if they have configured a very short useable distance
 2018-11-15 09:18:45 +09:00
Randy Mackay 35be68348d AP_RangeFinder: benewake logic reordering 
this should be a non-functional change
 2018-11-10 12:20:27 +09:00
Randy Mackay a09cd8411d AP_RangeFinder: benewake lidar returns max range + 1m when out-of-range 
also returns out-of-range when signal is weak
 2018-11-10 12:20:27 +09:00
Peter Barker c2b334eaad AP_RangeFinder: PWM: take an average of any readings accumulated in irq 2018-11-08 21:03:35 +11:00
Andrew Tridgell 76a2cd1540 AP_RangeFinder: set pin to input before attaching interrupt 
this fixes input on AUX6 on CubeBlack
 2018-11-08 18:25:14 +11:00
Peter Barker 94e0485bdf AP_RangeFinder: add override keyword where required 2018-11-08 11:30:12 +11:00
Peter Barker 6e84a31613 AP_RangeFinder: use new ChibiOS driver if user attempts to use PX4 PWM driver 2018-11-07 08:59:19 +11:00
Peter Barker 186ce80827 AP_RangeFinder: add pwm backend 2018-11-07 08:59:19 +11:00
Randy Mackay 7fdd0bd996 AP_RangeFinder: Benewake driver discards distances over 327m 2018-11-06 11:58:32 +11:00