mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.3 KiB
C++
74 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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_RangeFinder_MAVLink.h"
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initialises the rangefinder. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the rangefinder
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*/
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AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
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AP_RangeFinder_Backend(_ranger, instance, _state)
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{
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last_update_ms = AP_HAL::millis();
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distance_cm = 0;
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}
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/*
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detect if a MAVLink rangefinder is connected. We'll detect by
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checking a parameter.
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*/
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bool AP_RangeFinder_MAVLink::detect(RangeFinder &_ranger, uint8_t instance)
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{
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// Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
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// there is an attached MAVLink rangefinder
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return true;
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}
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/*
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Set the distance based on a MAVLINK message
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*/
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void AP_RangeFinder_MAVLink::handle_msg(mavlink_message_t *msg)
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{
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mavlink_distance_sensor_t packet;
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mavlink_msg_distance_sensor_decode(msg, &packet);
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last_update_ms = AP_HAL::millis();
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distance_cm = packet.current_distance;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_MAVLink::update(void)
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{
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//Time out on incoming data; if we don't get new
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//data in 500ms, dump it
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if(AP_HAL::millis() - last_update_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
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set_status(RangeFinder::RangeFinder_NoData);
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state.distance_cm = 0;
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} else {
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set_status(RangeFinder::RangeFinder_Good);
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state.distance_cm = distance_cm;
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}
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}
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