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538 Commits

Author SHA1 Message Date
Peter Barker 40eb9a8b99 AP_RangeFinder: do not start the mavlink rangefinder as healthy 
Also takes the opportunity to clean things up a little
 2021-01-06 15:33:41 +11:00
Andrew Tridgell 66c05bef76 AP_RangeFinder: added USD1 CAN driver 
also known as uLanding CAN
 2021-01-01 17:29:54 +11:00
murata 282590668d AP_RangeFinder: Make measurement time and call back time static constant 
Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
 2020-12-30 18:29:35 +11:00
Tatsuya Yamaguchi 4dc5162d0a AP_RangeFinder: change i2c reading frequency to 50Hz 2020-12-19 08:14:54 -03:00
ashvath 54708d916b AP_RangeFinder: TFminiPlus driver outputs init failure to ground station 2020-12-19 08:14:54 -03:00
Tatsuya Yamaguchi b0ee6393ae AP_RangeFinder: TFminiPlus: set frame rate to 250hz 2020-12-19 08:14:54 -03:00
Peter Barker 1c57eed66c AP_RangeFinder: remove unused voltage_mv_orient method 
This is really backend-specific data and shouldn't be exposed
 2020-12-06 16:49:43 +11:00
Andrew Tridgell 0c05e9a2e7 AP_RangeFinder: fixed handling of instance numbers 
if a backend allocation failed then we could end up with the backend
being assigned to the wrong instance number. Switch to using
_add_backend() everywhere, and pass the instance number to
_add_backend() to ensure that it always uses the correct slot.

Also added comment explaining how num_sensors() works when we have a
sparse set of rangefinders configured
 2020-12-01 10:53:08 +11:00
Brent McLaughlin e241433c89 AP_Rangefinder: change lightware lost signal timer to 20 
The LightWare lost signal timer is set to 20 by the manufacturer.
 2020-12-01 10:34:54 +11:00
murata bbc673c668 AP_RangeFinder: Change rangefinder number 10 to A 2020-11-17 11:46:25 +11:00
Lucas De Marchi 4be9b4171b AP_RangeFinder: TFMiniPlus: respect max configured via param 
Do like other drivers do and cap the maximum reported value with what is
configured in the parameter.
 2020-11-11 19:23:41 +11:00
Lucas De Marchi 0e63a833e9 AP_RangeFinder: TFMiniPlus: fix out-of-range returned a no-data 
Other drivers consider that they received data even if the value is
reported as "out of range" by sensor. On the I2C driver for TFMiniPlus
we considered this case, too. However when the signal strength is very
low (and thus the distance would likely be out of range), we would end up
ignoring the new sample. With enough samples without any value this
would lead the status to turn to "NoData".
 2020-11-11 19:23:41 +11:00
Peter Barker 914316a529 AP_RangeFinder: remove unused variables 2020-10-01 21:13:20 +10:00
Peter Barker dd8361ba33 AP_RangeFinder: remove default case from Rangefinder init switch 
Allows the compiler to help the programmer fill in required code
 2020-09-10 20:52:06 +10:00
yaapu bc21e505e3 AP_RangeFinder: aligned msp message data struct name to gps,baro and mag 2020-09-09 06:35:50 +10:00
Peter Barker 72b49efc78 AP_RangeFinder: create and use new AP_HAL::PWMSource object 2020-09-08 16:10:50 +10:00
Rajat Singhal e9b3c54e6d AP_Rangefinder: Add SITL option in param description 2020-09-02 17:25:43 +10:00
Andrew Tridgell 34430e9d6c AP_RangeFinder: allow separate enable of MSP rangefinder 2020-09-02 05:56:46 +10:00
Andrew Tridgell 84f7589f2d AP_RangeFinder: allow separate enable of MSP rangefinder 2020-09-02 05:56:46 +10:00
Andrew Tridgell 17173871a4 AP_RangeFinder: fixed non-MSP build 2020-09-02 05:56:46 +10:00
yaapu 699ffcbcd2 AP_RangeFinder: added support for MSP based range finders 2020-09-02 05:56:46 +10:00
Siddharth Purohit 6ef85dd7eb AP_RangeFinder: use AP_CANManager library 2020-08-19 17:31:09 +10:00
Iampete1 e18c195df4 AP_RangeFinder: add SITL backend 2020-08-05 18:24:36 +10:00
Andrew Tridgell 8d5c51748f AP_RangeFinder: fixed legacy parsing of 65436 for lightware i2c 
some lidars will probe as legacy protocol and return 65436 as range
 2020-07-30 11:25:05 +10:00
Iampete1 2adbaf1a1d AP_RangeFinder_NMEA: decode each sentence once 2020-07-29 17:40:03 +10:00
Randy Mackay 9c7f382392 AP_RangeFinder: remove unused set_rfnd_bit 2020-07-08 11:42:10 +09:00
Randy Mackay 613d2c2e0a AP_RangeFinder: LightWareSerial gets small comment 2020-07-06 13:57:43 +09:00
murata 98feb06183 AP_RangeFinder: Add GYUS42v2 to the TYPE item 2020-07-05 08:52:03 +10:00
Peter Barker 6ec497229b AP_RangeFinder: add serial support for GY-US42v2 rangefinder 2020-07-04 13:40:10 +10:00
Randy Mackay 429e70fb94 AP_RangeFinder: LightwareSerial uses nullptr for strtof 2020-07-01 13:00:48 +09:00
Randy Mackay 85c4db6896 AP_RangeFinder: LightwareSerial driver loses unnecessary initialisation 2020-07-01 13:00:48 +09:00
Randy Mackay cdbc0c782b AP_RangeFinder: add sf30d binary protocol support 
Co-authored-by: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
 2020-07-01 13:00:48 +09:00
Tatsuya Yamaguchi ed14518634 AP_RangeFinder: TYPE param becomes enable flag 2020-06-18 12:30:00 +10:00
Henry Wurzburg f9b02a6814 AP_RangeFinder: HC-SR04: Add glitch filter 2020-06-02 09:58:53 +10:00
Peter Barker fc1ea612b1 AP_RangeFinder: add support for HC-SR04 rangefinder 2020-06-02 09:58:53 +10:00
Andrew Tridgell 2dcf8a3b08 AP_RangeFinder: cope with beyond max range with LightwareI2C 2020-06-02 08:49:38 +09:00
Peter Barker af80c4a29f AP_RangeFinder: remove move-to-error-state for LeddarOne driver 
Just because there's a lot in your input buffer doesn't necessarily mean
the rangefinder is faulty.
 2020-05-26 09:20:32 +10:00
Peter Barker 95f9769041 AP_RangeFinder: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Henry Wurzburg 23e7e2d193 AP_RangeFinder: rename Benewake types for easier identification 2020-05-21 08:45:30 +09:00
Andrew Tridgell d16f31711e AP_RangeFinder: fixed mixing UAVCAN and non-UAVCAN rangefinders 
UAVCAN rangefinders add themselves to the frontend drivers as the
devices appear. If they turn up before RangeFinder::init() is run then
this prevented init() from scanning for the other rangefinders as
num_instances is non-zero

This also fixes a race condition in updating num_instances in the
UAVCAN backend
 2020-05-12 09:45:15 +10:00
Andrew Tridgell 603e5c4b55 AP_RangeFinder: added get_address() 
allows AP_Periph to supply sensor_id for multiple CAN rangefinders
 2020-05-11 18:36:46 +10:00
Andrew Tridgell ffe9fa22a1 AP_RangeFinder: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Andrew Tridgell b102fd6b59 AP_RangeFinder: use GCS_SEND_TEXT() 2020-04-29 07:36:55 +10:00
Peter Barker b7a03ae5ad AP_RangeFinder: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker adcfb60850 AP_RangeFinder: comment out no-loner-used PX4 enum entry 2020-02-12 21:18:47 +11:00
Peter Barker 6febbcdc13 AP_RangeFinder: remove incorrect and misleading comment 
Wrong on several counts.  detect calls this method.  The constructor
doesn't initialise the rangefinder.  detect doesn't return boolean.
 2020-02-12 21:18:47 +11:00
Patrick José Pereira a183d00b7e AP_RangeFinder: BLPing: Rework class to work with new firmware version 3.28 
- Uses the continuous message request

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-02-11 11:49:11 -05:00
Randy Mackay 7d8952a48a AP_RangeFinder: fix offset param for PWM driver 2020-02-03 19:32:34 +09:00
Randy Mackay 52ca1e016e AP_RangeFinder: minor fix in POS param description 2020-02-01 08:46:03 +09:00
Randy Mackay 9f3154372d AP_RangeFinder: POS param range of 5m and 1cm increment 2020-02-01 08:46:03 +09:00
Michael du Breuil 7bc1f4ff9b AP_RangeFinder: a to close reading is not the minimum distance 2020-01-28 11:32:19 +11:00
Andrew Tridgell 2fa6f534ab AP_RangeFinder: added get_type() API 2020-01-26 09:12:55 +11:00
murata b0af48745e AP_RangeFinder: VL53L1X LONG can be specified 
AP_RangeFinder: VL53L1X LONG can be specified

AP_RangeFinder: Add VL53L1X to device number 16

AP_RangeFinder: Add VL53L1X to device number 16
 2020-01-24 13:46:35 -07:00
Randy Mackay 141099078c AP_RangeFinder: increase leddarvu8 timeout to 0.5sec 2020-01-23 16:24:33 +11:00
Randy Mackay f269004610 AP_RangeFinder: fix detect for LeddarVu8 
Co-Authored-By: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-01-23 16:24:33 +11:00
Randy Mackay b068f15932 AP_RangeFinder: LeddarVu8 driver 2020-01-23 16:24:33 +11:00
Randy Mackay e5c3a7f7b5 AP_RangeFinder: typo fix for LeddarOne 2020-01-23 16:24:33 +11:00
Randy Mackay 266a908b83 AP_RangeFinder: serial backend get_reading returns false 2020-01-23 16:24:33 +11:00
Randy Mackay 9ac10c3af9 AP_RangeFinder: remove virtual from _get_mav_distance_sensor_type 2020-01-23 16:24:33 +11:00
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