mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_RangeFinder_MAVLink.h"
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#if AP_RANGEFINDER_MAVLINK_ENABLED
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#include <AP_HAL/AP_HAL.h>
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/*
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Set the distance based on a MAVLINK message
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*/
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void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
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{
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mavlink_distance_sensor_t packet;
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mavlink_msg_distance_sensor_decode(&msg, &packet);
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// only accept distances for the configured orientation
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if (packet.orientation == orientation()) {
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state.last_reading_ms = AP_HAL::millis();
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distance_cm = packet.current_distance;
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_max_distance_cm = packet.max_distance;
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_min_distance_cm = packet.min_distance;
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sensor_type = (MAV_DISTANCE_SENSOR)packet.type;
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signal_quality = packet.signal_quality;
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if (signal_quality == 0) {
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// MAVLink's 0 means invalid/unset, so we map it to -1
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signal_quality = -1;
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} else if (signal_quality == 1) {
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// Map 1 to 0 as that is what ardupilot uses as the worst signal quality
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signal_quality = 0;
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}
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}
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}
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int16_t AP_RangeFinder_MAVLink::max_distance_cm() const
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{
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if (_max_distance_cm == 0 && _min_distance_cm == 0) {
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// we assume if both of these are zero that we ignore both
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return params.max_distance_cm;
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}
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if (params.max_distance_cm < _max_distance_cm) {
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return params.max_distance_cm;
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}
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return _max_distance_cm;
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}
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int16_t AP_RangeFinder_MAVLink::min_distance_cm() const
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{
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if (_max_distance_cm == 0 && _min_distance_cm == 0) {
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// we assume if both of these are zero that we ignore both
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return params.min_distance_cm;
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}
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if (params.min_distance_cm > _min_distance_cm) {
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return params.min_distance_cm;
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}
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return _min_distance_cm;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_MAVLink::update(void)
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{
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//Time out on incoming data; if we don't get new
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//data in 500ms, dump it
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if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
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set_status(RangeFinder::Status::NoData);
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state.distance_m = 0.0f;
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} else {
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state.distance_m = distance_cm * 0.01f;
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update_status();
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}
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}
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bool AP_RangeFinder_MAVLink::get_signal_quality_pct(int8_t &quality_pct) const
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{
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if (status() != RangeFinder::Status::Good) {
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return false;
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}
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quality_pct = signal_quality;
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return true;
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}
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#endif
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