mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
105 lines
2.9 KiB
C++
105 lines
2.9 KiB
C++
#include "AP_DAL_RangeFinder.h"
|
|
|
|
#include <AP_Logger/AP_Logger.h>
|
|
|
|
#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
|
|
#include "AP_DAL.h"
|
|
|
|
AP_DAL_RangeFinder::AP_DAL_RangeFinder()
|
|
{
|
|
for (uint8_t i=0; i<ARRAY_SIZE(_RRNI); i++) {
|
|
_RRNI[i].instance = i;
|
|
}
|
|
|
|
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
|
|
// this avoids having to discard a const....
|
|
_backend[i] = new AP_DAL_RangeFinder_Backend(_RRNI[i]);
|
|
}
|
|
}
|
|
|
|
int16_t AP_DAL_RangeFinder::ground_clearance_cm_orient(enum Rotation orientation) const
|
|
{
|
|
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)
|
|
const auto *rangefinder = AP::rangefinder();
|
|
|
|
if (orientation != ROTATION_PITCH_270) {
|
|
// the EKF only asks for this from a specific orientation. Thankfully.
|
|
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
|
return rangefinder->ground_clearance_cm_orient(orientation);
|
|
}
|
|
#endif
|
|
|
|
return _RRNH.ground_clearance_cm;
|
|
}
|
|
|
|
int16_t AP_DAL_RangeFinder::max_distance_cm_orient(enum Rotation orientation) const
|
|
{
|
|
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)
|
|
if (orientation != ROTATION_PITCH_270) {
|
|
const auto *rangefinder = AP::rangefinder();
|
|
// the EKF only asks for this from a specific orientation. Thankfully.
|
|
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
|
return rangefinder->ground_clearance_cm_orient(orientation);
|
|
}
|
|
#endif
|
|
|
|
return _RRNH.max_distance_cm;
|
|
}
|
|
|
|
void AP_DAL_RangeFinder::start_frame()
|
|
{
|
|
const auto *rangefinder = AP::rangefinder();
|
|
if (rangefinder == nullptr) {
|
|
return;
|
|
}
|
|
|
|
const log_RRNH old = _RRNH;
|
|
|
|
// EKF only asks for this *down*.
|
|
_RRNH.ground_clearance_cm = rangefinder->ground_clearance_cm_orient(ROTATION_PITCH_270);
|
|
_RRNH.max_distance_cm = rangefinder->max_distance_cm_orient(ROTATION_PITCH_270);
|
|
_RRNH.backend_mask = 0;
|
|
|
|
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
|
|
auto *backend = rangefinder->get_backend(i);
|
|
if (backend == nullptr) {
|
|
break;
|
|
}
|
|
_RRNH.backend_mask |= (1U<<i);
|
|
_backend[i]->start_frame(backend);
|
|
}
|
|
|
|
WRITE_REPLAY_BLOCK_IFCHANGED(RRNH, _RRNH, old);
|
|
}
|
|
|
|
|
|
|
|
|
|
AP_DAL_RangeFinder_Backend::AP_DAL_RangeFinder_Backend(struct log_RRNI &RRNI) :
|
|
_RRNI(RRNI)
|
|
{
|
|
}
|
|
|
|
void AP_DAL_RangeFinder_Backend::start_frame(AP_RangeFinder_Backend *backend) {
|
|
const log_RRNI old = _RRNI;
|
|
_RRNI.orientation = backend->orientation();
|
|
_RRNI.status = (uint8_t)backend->status();
|
|
_RRNI.pos_offset = backend->get_pos_offset();
|
|
WRITE_REPLAY_BLOCK_IFCHANGED(RRNI, _RRNI, old);
|
|
}
|
|
|
|
|
|
AP_DAL_RangeFinder_Backend *AP_DAL_RangeFinder::get_backend(uint8_t id) const
|
|
{
|
|
if (id > RANGEFINDER_MAX_INSTANCES) {
|
|
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
|
return nullptr;
|
|
}
|
|
|
|
if ((_RRNH.backend_mask & (1U<<id)) == 0) {
|
|
return nullptr;
|
|
}
|
|
|
|
return _backend[id];
|
|
}
|