mirror of https://github.com/ArduPilot/ardupilot
105 lines
3.2 KiB
C++
105 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_MorseSITL.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 200.0f
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#define PROXIMITY_ACCURACY 0.1f
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/*
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The constructor also initialises the proximity sensor.
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*/
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AP_Proximity_MorseSITL::AP_Proximity_MorseSITL(AP_Proximity &_frontend,
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AP_Proximity::Proximity_State &_state):
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AP_Proximity_Backend(_frontend, _state),
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sitl(AP::sitl())
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{
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}
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// update the state of the sensor
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void AP_Proximity_MorseSITL::update(void)
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{
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SITL::vector3f_array &points = sitl->state.scanner.points;
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SITL::float_array &ranges = sitl->state.scanner.ranges;
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if (points.length != ranges.length ||
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points.length == 0) {
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set_status(AP_Proximity::Proximity_NoData);
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return;
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}
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set_status(AP_Proximity::Proximity_Good);
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memset(_distance_valid, 0, sizeof(_distance_valid));
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memset(_angle, 0, sizeof(_angle));
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memset(_distance, 0, sizeof(_distance));
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// only use 8 sectors to match RPLidar
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const uint8_t nsectors = MIN(8, PROXIMITY_SECTORS_MAX);
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const uint16_t degrees_per_sector = 360 / nsectors;
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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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float &range = ranges.data[i];
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distance_maximum = MAX(distance_maximum, range);
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if (point.is_zero()) {
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continue;
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}
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float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x)));
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uint16_t angle_rounded = uint16_t(angle_deg+0.5);
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uint8_t sector = wrap_360(angle_rounded + 22.5f) / degrees_per_sector;
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if (!_distance_valid[sector] || range < _distance[sector]) {
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_distance_valid[sector] = true;
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_distance[sector] = range;
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_angle[sector] = angle_deg;
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update_boundary_for_sector(sector, true);
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}
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}
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#if 0
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printf("npoints=%u\n", points.length);
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for (uint16_t i=0; i<nsectors; i++) {
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printf("sector[%u] ang=%.1f dist=%.1f\n", i, _angle[i], _distance[i]);
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}
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#endif
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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_MorseSITL::distance_max() const
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{
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// we don't have a data field from Morse for max range, so we use the max
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// we've ever seen
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return distance_maximum;
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}
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float AP_Proximity_MorseSITL::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_MorseSITL::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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