mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
97 lines
3.2 KiB
C++
97 lines
3.2 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_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_Proximity_AirSimSITL.h"
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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#define PROXIMITY_MAX_RANGE 100.0f
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#define PROXIMITY_ACCURACY 0.1f
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// update the state of the sensor
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void AP_Proximity_AirSimSITL::update(void)
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{
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SITL::vector3f_array &points = sitl->state.scanner.points;
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if (points.length == 0) {
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set_status(AP_Proximity::Status::NoData);
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return;
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}
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set_status(AP_Proximity::Status::Good);
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// reset all horizontal sectors to default, so that it can be filled with the fresh lidar data
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boundary.reset_all_horizontal_sectors();
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for (uint16_t i=0; i<points.length; i++) {
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Vector3f &point = points.data[i];
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if (point.is_zero()) {
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continue;
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}
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const float angle_deg = wrap_360(degrees(atan2f(point.y, point.x)));
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// Get location on 3-D boundary based on angle to the object
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const boundary_location bnd_loc = boundary.get_sector(angle_deg);
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const Vector2f v = Vector2f(point.x, point.y);
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const float distance_m = v.length();
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if (distance_m > distance_min()) {
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if (_last_sector == bnd_loc.sector) {
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if (_distance_m_last > distance_m) {
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_distance_m_last = distance_m;
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_angle_deg_last = angle_deg;
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}
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} else {
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// new sector started, previous one can be updated
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// create a boundary location object
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const boundary_location set_loc{_last_sector};
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boundary.set_attributes(set_loc, _angle_deg_last, _distance_m_last);
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// update boundary
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boundary.update_boundary(set_loc);
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// update OA database
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database_push(_angle_deg_last, _distance_m_last);
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// initialize new sector
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_last_sector = bnd_loc.sector;
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_distance_m_last = INT16_MAX;
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_angle_deg_last = angle_deg;
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}
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} else {
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// reset data back to defaults at this location
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boundary.reset_sector(bnd_loc);
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}
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}
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}
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// get maximum and minimum distances (in meters) of primary sensor
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float AP_Proximity_AirSimSITL::distance_max() const
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{
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return PROXIMITY_MAX_RANGE;
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}
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float AP_Proximity_AirSimSITL::distance_min() const
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{
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return 0.0f;
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}
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// get distance upwards in meters. returns true on success
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bool AP_Proximity_AirSimSITL::get_upward_distance(float &distance) const
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{
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// we don't have an upward facing laser
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return false;
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}
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#endif // CONFIG_HAL_BOARD
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