mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
203fb48827
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "RangeFinder.h"
|
|
#include "RangeFinder_Backend.h"
|
|
|
|
/*
|
|
base class constructor.
|
|
This incorporates initialisation as well.
|
|
*/
|
|
AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
|
|
ranger(_ranger),
|
|
state(_state)
|
|
{
|
|
}
|
|
|
|
// update status based on distance measurement
|
|
void AP_RangeFinder_Backend::update_status()
|
|
{
|
|
// check distance
|
|
if ((int16_t)state.distance_cm > ranger._max_distance_cm[state.instance]) {
|
|
set_status(RangeFinder::RangeFinder_OutOfRangeHigh);
|
|
} else if ((int16_t)state.distance_cm < ranger._min_distance_cm[state.instance]) {
|
|
set_status(RangeFinder::RangeFinder_OutOfRangeLow);
|
|
} else {
|
|
set_status(RangeFinder::RangeFinder_Good);
|
|
}
|
|
}
|
|
|
|
// set status and update valid count
|
|
void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_Status status)
|
|
{
|
|
state.status = status;
|
|
|
|
// update valid count
|
|
if (status == RangeFinder::RangeFinder_Good) {
|
|
if (state.range_valid_count < 10) {
|
|
state.range_valid_count++;
|
|
}
|
|
} else {
|
|
state.range_valid_count = 0;
|
|
}
|
|
}
|