mirror of https://github.com/ArduPilot/ardupilot
92 lines
3.6 KiB
C++
92 lines
3.6 KiB
C++
#include "Sub.h"
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// return barometric altitude in centimeters
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void Sub::read_barometer()
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{
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barometer.update();
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// If we are reading a positive altitude, the sensor needs calibration
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// Even a few meters above the water we should have no significant depth reading
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if(barometer.get_altitude() > 0) {
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barometer.update_calibration();
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}
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if (ap.depth_sensor_present) {
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sensor_health.depth = barometer.healthy(depth_sensor_idx);
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}
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}
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void Sub::init_rangefinder()
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.set_log_rfnd_bit(MASK_LOG_CTUN);
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rangefinder.init(ROTATION_PITCH_270);
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rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
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rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
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#endif
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}
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// return rangefinder altitude in centimeters
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void Sub::read_rangefinder()
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.update();
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// signal quality ranges from 0 (worst) to 100 (perfect), -1 means n/a
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int8_t signal_quality_pct = rangefinder.signal_quality_pct_orient(ROTATION_PITCH_270);
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rangefinder_state.alt_healthy =
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(rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) &&
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(rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX) &&
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(signal_quality_pct == -1 || signal_quality_pct >= g.rangefinder_signal_min);
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int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
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#if RANGEFINDER_TILT_CORRECTION == ENABLED
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// correct alt for angle of the rangefinder
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temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
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#endif
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rangefinder_state.alt_cm = temp_alt;
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rangefinder_state.inertial_alt_cm = inertial_nav.get_position_z_up_cm();
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rangefinder_state.min_cm = rangefinder.min_distance_cm_orient(ROTATION_PITCH_270);
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rangefinder_state.max_cm = rangefinder.max_distance_cm_orient(ROTATION_PITCH_270);
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// calculate rangefinder_terrain_offset_cm
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if (rangefinder_state.alt_healthy) {
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uint32_t now = AP_HAL::millis();
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if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) {
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// reset filter if we haven't used it within the last second
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rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);
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} else {
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rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);
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}
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rangefinder_state.last_healthy_ms = now;
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rangefinder_state.rangefinder_terrain_offset_cm =
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sub.rangefinder_state.inertial_alt_cm - sub.rangefinder_state.alt_cm_filt.get();
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}
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// send rangefinder altitude and health to waypoint navigation library
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wp_nav.set_rangefinder_terrain_offset(
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rangefinder_state.enabled,
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rangefinder_state.alt_healthy,
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rangefinder_state.rangefinder_terrain_offset_cm);
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circle_nav.set_rangefinder_terrain_offset(
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rangefinder_state.enabled && wp_nav.rangefinder_used(),
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rangefinder_state.alt_healthy,
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rangefinder_state.rangefinder_terrain_offset_cm);
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#else
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rangefinder_state.enabled = false;
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rangefinder_state.alt_healthy = false;
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rangefinder_state.alt_cm = 0;
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rangefinder_state.inertial_alt_cm = 0;
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rangefinder_state.rangefinder_terrain_offset_cm = 0;
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#endif
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}
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// return true if rangefinder_alt can be used
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bool Sub::rangefinder_alt_ok() const
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{
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uint32_t now = AP_HAL::millis();
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return (rangefinder_state.enabled && rangefinder_state.alt_healthy && now - rangefinder_state.last_healthy_ms < RANGEFINDER_TIMEOUT_MS);
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}
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