ardupilot/libraries/AP_Beacon/AP_Beacon.cpp

233 lines
6.3 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_Beacon.h"
#include "AP_Beacon_Backend.h"
#include "AP_Beacon_Pozyx.h"
#include "AP_Beacon_Marvelmind.h"
#include "AP_Beacon_SITL.h"
extern const AP_HAL::HAL &hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_Beacon::var_info[] = {
// @Param: _TYPE
// @DisplayName: Beacon based position estimation device type
// @Description: What type of beacon based position estimation device is connected
// @Values: 0:None,1:Pozyx,2:Marvelmind
// @User: Advanced
AP_GROUPINFO("_TYPE", 0, AP_Beacon, _type, 0),
// @Param: _LATITUDE
// @DisplayName: Beacon origin's latitude
// @Description: Beacon origin's latitude
// @Units: degrees
// @Increment: 0.000001
// @Range: -90 90
// @User: Advanced
AP_GROUPINFO("_LATITUDE", 1, AP_Beacon, origin_lat, 0),
// @Param: _LONGITUDE
// @DisplayName: Beacon origin's longitude
// @Description: Beacon origin's longitude
// @Units: degrees
// @Increment: 0.000001
// @Range: -180 180
// @User: Advanced
AP_GROUPINFO("_LONGITUDE", 2, AP_Beacon, origin_lon, 0),
// @Param: _ALT
// @DisplayName: Beacon origin's altitude above sealevel in meters
// @Description: Beacon origin's altitude above sealevel in meters
// @Units: meters
// @Increment: 1
// @Range: 0 10000
// @User: Advanced
AP_GROUPINFO("_ALT", 3, AP_Beacon, origin_alt, 0),
// @Param: _ORIENT_YAW
// @DisplayName: Beacon systems rotation from north in degrees
// @Description: Beacon systems rotation from north in degrees
// @Units: degrees
// @Increment: 1
// @Range: -180 +180
// @User: Advanced
AP_GROUPINFO("_ORIENT_YAW", 4, AP_Beacon, orient_yaw, 0),
AP_GROUPEND
};
AP_Beacon::AP_Beacon(AP_SerialManager &_serial_manager) :
serial_manager(_serial_manager)
{
AP_Param::setup_object_defaults(this, var_info);
}
// initialise the AP_Beacon class
void AP_Beacon::init(void)
{
if (_driver != nullptr) {
// init called a 2nd time?
return;
}
// create backend
if (_type == AP_BeaconType_Pozyx) {
_driver = new AP_Beacon_Pozyx(*this, serial_manager);
} else if (_type == AP_BeaconType_Marvelmind) {
_driver = new AP_Beacon_Marvelmind(*this, serial_manager);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_type == AP_BeaconType_SITL) {
_driver = new AP_Beacon_SITL(*this);
}
#endif
}
// return true if beacon feature is enabled
bool AP_Beacon::enabled(void)
{
return (_type != AP_BeaconType_None);
}
// return true if sensor is basically healthy (we are receiving data)
bool AP_Beacon::healthy(void)
{
if (!device_ready()) {
return false;
}
return _driver->healthy();
}
// update state. This should be called often from the main loop
void AP_Beacon::update(void)
{
if (!device_ready()) {
return;
}
_driver->update();
}
// return origin of position estimate system
bool AP_Beacon::get_origin(Location &origin_loc) const
{
if (!device_ready()) {
return false;
}
// check for un-initialised origin
if (is_zero(origin_lat) && is_zero(origin_lon) && is_zero(origin_alt)) {
return false;
}
// return origin
origin_loc.lat = origin_lat * 1.0e7;
origin_loc.lng = origin_lon * 1.0e7;
origin_loc.alt = origin_alt * 100;
origin_loc.options = 0; // all flags to zero meaning alt-above-sea-level
return true;
}
// return position in NED from position estimate system's origin in meters
bool AP_Beacon::get_vehicle_position_ned(Vector3f &position, float& accuracy_estimate) const
{
if (!device_ready()) {
return false;
}
// check for timeout
if (AP_HAL::millis() - veh_pos_update_ms > AP_BEACON_TIMEOUT_MS) {
return false;
}
// return position
position = veh_pos_ned;
accuracy_estimate = veh_pos_accuracy;
return true;
}
// return the number of beacons
uint8_t AP_Beacon::count() const
{
if (!device_ready()) {
return 0;
}
return num_beacons;
}
// return all beacon data
bool AP_Beacon::get_beacon_data(uint8_t beacon_instance, struct BeaconState& state) const
{
if (!device_ready() || beacon_instance >= num_beacons) {
return false;
}
state = beacon_state[beacon_instance];
return true;
}
// return individual beacon's id
uint8_t AP_Beacon::beacon_id(uint8_t beacon_instance) const
{
if (beacon_instance >= num_beacons) {
return 0;
}
return beacon_state[beacon_instance].id;
}
// return beacon health
bool AP_Beacon::beacon_healthy(uint8_t beacon_instance) const
{
if (beacon_instance >= num_beacons) {
return false;
}
return beacon_state[beacon_instance].healthy;
}
// return distance to beacon in meters
float AP_Beacon::beacon_distance(uint8_t beacon_instance) const
{
if (!beacon_state[beacon_instance].healthy || beacon_instance >= num_beacons) {
return 0.0f;
}
return beacon_state[beacon_instance].distance;
}
// return beacon position in meters
Vector3f AP_Beacon::beacon_position(uint8_t beacon_instance) const
{
if (!device_ready() || beacon_instance >= num_beacons) {
Vector3f temp = {};
return temp;
}
return beacon_state[beacon_instance].position;
}
// return last update time from beacon in milliseconds
uint32_t AP_Beacon::beacon_last_update_ms(uint8_t beacon_instance) const
{
if (_type == AP_BeaconType_None || beacon_instance >= num_beacons) {
return 0;
}
return beacon_state[beacon_instance].distance_update_ms;
}
// check if the device is ready
bool AP_Beacon::device_ready(void) const
{
return ((_driver != nullptr) && (_type != AP_BeaconType_None));
}