mirror of https://github.com/ArduPilot/ardupilot
141 lines
4.9 KiB
C++
141 lines
4.9 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "AP_Proximity_Backend.h"
|
|
|
|
#if HAL_PROXIMITY_ENABLED
|
|
#include <AP_Common/Location.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AC_Avoidance/AP_OADatabase.h>
|
|
|
|
/*
|
|
base class constructor.
|
|
This incorporates initialisation as well.
|
|
*/
|
|
AP_Proximity_Backend::AP_Proximity_Backend(AP_Proximity& _frontend, AP_Proximity::Proximity_State& _state, AP_Proximity_Params& _params) :
|
|
frontend(_frontend),
|
|
state(_state),
|
|
params(_params)
|
|
{
|
|
}
|
|
|
|
static_assert(PROXIMITY_MAX_DIRECTION <= 8,
|
|
"get_horizontal_distances assumes 8-bits is enough for validity bitmask");
|
|
|
|
// set status and update valid count
|
|
void AP_Proximity_Backend::set_status(AP_Proximity::Status status)
|
|
{
|
|
state.status = status;
|
|
}
|
|
|
|
// correct an angle (in degrees) based on the orientation and yaw correction parameters
|
|
float AP_Proximity_Backend::correct_angle_for_orientation(float angle_degrees) const
|
|
{
|
|
const float angle_sign = (params.orientation == 1) ? -1.0f : 1.0f;
|
|
return wrap_360(angle_degrees * angle_sign + params.yaw_correction);
|
|
}
|
|
|
|
// check if a reading should be ignored because it falls into an ignore area (check_for_ign_area should be sent as false if this check is not needed)
|
|
// pitch is the vertical body-frame angle (in degrees) to the obstacle (0=directly ahead, 90 is above the vehicle)
|
|
// yaw is the horizontal body-frame angle (in degrees) to the obstacle (0=directly ahead of the vehicle, 90 is to the right of the vehicle)
|
|
// Also checks if obstacle is near land or out of range
|
|
// angles should be in degrees and in the range of 0 to 360, distance should be in meteres
|
|
bool AP_Proximity_Backend::ignore_reading(float pitch, float yaw, float distance_m, bool check_for_ign_area) const
|
|
{
|
|
// check if distances are supposed to be in a particular range
|
|
if (!is_zero(params.max_m)) {
|
|
if (distance_m > params.max_m) {
|
|
// too far away
|
|
return true;
|
|
}
|
|
}
|
|
|
|
if (!is_zero(params.min_m)) {
|
|
if (distance_m < params.min_m) {
|
|
// too close
|
|
return true;
|
|
}
|
|
}
|
|
|
|
if (check_for_ign_area) {
|
|
// check angle vs each ignore area
|
|
for (uint8_t i=0; i < PROXIMITY_MAX_IGNORE; i++) {
|
|
if (params.ignore_width_deg[i] != 0) {
|
|
if (abs(yaw - params.ignore_angle_deg[i]) <= (params.ignore_width_deg[i]/2)) {
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// check if obstacle is near land
|
|
return frontend.check_obstacle_near_ground(pitch, yaw, distance_m);
|
|
}
|
|
|
|
// returns true if database is ready to be pushed to and all cached data is ready
|
|
bool AP_Proximity_Backend::database_prepare_for_push(Vector3f ¤t_pos, Matrix3f &body_to_ned)
|
|
{
|
|
AP_OADatabase *oaDb = AP::oadatabase();
|
|
if (oaDb == nullptr || !oaDb->healthy()) {
|
|
return false;
|
|
}
|
|
|
|
if (!AP::ahrs().get_relative_position_NED_origin(current_pos)) {
|
|
return false;
|
|
}
|
|
|
|
body_to_ned = AP::ahrs().get_rotation_body_to_ned();
|
|
|
|
return true;
|
|
}
|
|
|
|
// update Object Avoidance database with Earth-frame point
|
|
void AP_Proximity_Backend::database_push(float angle, float distance)
|
|
{
|
|
Vector3f current_pos;
|
|
Matrix3f body_to_ned;
|
|
|
|
if (database_prepare_for_push(current_pos, body_to_ned)) {
|
|
database_push(angle, distance, AP_HAL::millis(), current_pos, body_to_ned);
|
|
}
|
|
}
|
|
|
|
// update Object Avoidance database with Earth-frame point
|
|
// pitch can be optionally provided if needed
|
|
void AP_Proximity_Backend::database_push(float angle, float pitch, float distance, uint32_t timestamp_ms, const Vector3f ¤t_pos, const Matrix3f &body_to_ned)
|
|
{
|
|
AP_OADatabase *oaDb = AP::oadatabase();
|
|
if (oaDb == nullptr || !oaDb->healthy()) {
|
|
return;
|
|
}
|
|
if ((pitch > 90.0f) || (pitch < -90.0f)) {
|
|
// sanity check on pitch
|
|
return;
|
|
}
|
|
//Assume object is angle and pitch bearing and distance meters away from the vehicle
|
|
Vector3f object_3D;
|
|
object_3D.offset_bearing(wrap_180(angle), (pitch * -1.0f), distance);
|
|
const Vector3f rotated_object_3D = body_to_ned * object_3D;
|
|
|
|
//Calculate the position vector from origin
|
|
Vector3f temp_pos = current_pos + rotated_object_3D;
|
|
//Convert the vector to a NEU frame from NED
|
|
temp_pos.z = temp_pos.z * -1.0f;
|
|
|
|
oaDb->queue_push(temp_pos, timestamp_ms, distance);
|
|
}
|
|
|
|
#endif // HAL_PROXIMITY_ENABLED
|