mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.8 KiB
C++
98 lines
3.8 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_Proximity_RangeFinder.h"
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#if HAL_PROXIMITY_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <ctype.h>
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#include <stdio.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
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// update the state of the sensor
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void AP_Proximity_RangeFinder::update(void)
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{
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// exit immediately if no rangefinder object
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const RangeFinder *rngfnd = AP::rangefinder();
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if (rngfnd == nullptr) {
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set_status(AP_Proximity::Status::NoData);
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return;
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}
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uint32_t now = AP_HAL::millis();
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// look through all rangefinders
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for (uint8_t i=0; i < rngfnd->num_sensors(); i++) {
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AP_RangeFinder_Backend *sensor = rngfnd->get_backend(i);
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if (sensor == nullptr) {
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continue;
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}
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if (sensor->has_data()) {
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// check for horizontal range finders
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if (sensor->orientation() <= ROTATION_YAW_315) {
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const uint8_t sector = (uint8_t)sensor->orientation();
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const float angle = sector * 45;
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const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle);
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// distance in meters
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const float distance_m = sensor->distance_cm() * 0.01f;
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_distance_min = sensor->min_distance_cm() * 0.01f;
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_distance_max = sensor->max_distance_cm() * 0.01f;
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if ((distance_m <= _distance_max) && (distance_m >= _distance_min) && !check_obstacle_near_ground(angle, distance_m)) {
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boundary.set_face_attributes(face, angle, distance_m);
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// update OA database
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database_push(angle, distance_m);
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} else {
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boundary.reset_face(face);
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}
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_last_update_ms = now;
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}
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// check upward facing range finder
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if (sensor->orientation() == ROTATION_PITCH_90) {
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int16_t distance_upward = sensor->distance_cm();
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int16_t up_distance_min = sensor->min_distance_cm();
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int16_t up_distance_max = sensor->max_distance_cm();
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if ((distance_upward >= up_distance_min) && (distance_upward <= up_distance_max)) {
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_distance_upward = distance_upward * 0.01f;
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} else {
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_distance_upward = -1.0; // mark an valid reading
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}
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_last_upward_update_ms = now;
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}
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}
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}
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// check for timeout and set health status
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if ((_last_update_ms == 0 || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) &&
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(_last_upward_update_ms == 0 || (now - _last_upward_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS))) {
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set_status(AP_Proximity::Status::NoData);
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} else {
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set_status(AP_Proximity::Status::Good);
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}
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}
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// get distance upwards in meters. returns true on success
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bool AP_Proximity_RangeFinder::get_upward_distance(float &distance) const
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{
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if ((AP_HAL::millis() - _last_upward_update_ms <= PROXIMITY_RANGEFIDER_TIMEOUT_MS) &&
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is_positive(_distance_upward)) {
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distance = _distance_upward;
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return true;
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}
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return false;
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}
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#endif // HAL_PROXIMITY_ENABLED
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