mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.5 KiB
C++
83 lines
2.5 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_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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extern const AP_HAL::HAL& hal;
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/*
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base class constructor.
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This incorporates initialisation as well.
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*/
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AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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state(_state),
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params(_params)
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{
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_backend_type = type();
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}
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MAV_DISTANCE_SENSOR AP_RangeFinder_Backend::get_mav_distance_sensor_type() const {
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if (type() == RangeFinder::Type::NONE) {
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return MAV_DISTANCE_SENSOR_UNKNOWN;
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}
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return _get_mav_distance_sensor_type();
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}
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RangeFinder::Status AP_RangeFinder_Backend::status() const {
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if (type() == RangeFinder::Type::NONE) {
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// turned off at runtime?
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return RangeFinder::Status::NotConnected;
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}
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return state.status;
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}
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// true if sensor is returning data
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bool AP_RangeFinder_Backend::has_data() const {
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return ((state.status != RangeFinder::Status::NotConnected) &&
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(state.status != RangeFinder::Status::NoData));
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}
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// update status based on distance measurement
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void AP_RangeFinder_Backend::update_status()
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{
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// check distance
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if ((int16_t)state.distance_cm > params.max_distance_cm) {
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set_status(RangeFinder::Status::OutOfRangeHigh);
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} else if ((int16_t)state.distance_cm < params.min_distance_cm) {
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set_status(RangeFinder::Status::OutOfRangeLow);
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} else {
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set_status(RangeFinder::Status::Good);
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}
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}
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// set status and update valid count
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void AP_RangeFinder_Backend::set_status(RangeFinder::Status _status)
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{
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state.status = _status;
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// update valid count
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if (_status == RangeFinder::Status::Good) {
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if (state.range_valid_count < 10) {
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state.range_valid_count++;
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}
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} else {
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state.range_valid_count = 0;
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}
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}
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