mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
#include "AP_Periph.h"
|
|
|
|
#ifdef HAL_PERIPH_ENABLE_PROXIMITY
|
|
|
|
/*
|
|
proximity support
|
|
*/
|
|
|
|
#include <dronecan_msgs.h>
|
|
|
|
void AP_Periph_FW::can_proximity_update()
|
|
{
|
|
if (proximity.get_type(0) == AP_Proximity::Type::None) {
|
|
return;
|
|
}
|
|
|
|
uint32_t now = AP_HAL::millis();
|
|
static uint32_t last_update_ms;
|
|
if (g.proximity_max_rate > 0 &&
|
|
now - last_update_ms < 1000/g.proximity_max_rate) {
|
|
// limit to max rate
|
|
return;
|
|
}
|
|
last_update_ms = now;
|
|
proximity.update();
|
|
AP_Proximity::Status status = proximity.get_status();
|
|
if (status <= AP_Proximity::Status::NoData) {
|
|
// don't send any data
|
|
return;
|
|
}
|
|
|
|
ardupilot_equipment_proximity_sensor_Proximity pkt {};
|
|
|
|
const uint8_t obstacle_count = proximity.get_obstacle_count();
|
|
|
|
// if no objects return
|
|
if (obstacle_count == 0) {
|
|
return;
|
|
}
|
|
|
|
// calculate maximum roll, pitch values from objects
|
|
for (uint8_t i=0; i<obstacle_count; i++) {
|
|
if (!proximity.get_obstacle_info(i, pkt.yaw, pkt.pitch, pkt.distance)) {
|
|
// not a valid obstacle
|
|
continue;
|
|
}
|
|
|
|
pkt.sensor_id = proximity.get_address(0);
|
|
|
|
switch (status) {
|
|
case AP_Proximity::Status::NotConnected:
|
|
pkt.reading_type = ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_READING_TYPE_NOT_CONNECTED;
|
|
break;
|
|
case AP_Proximity::Status::Good:
|
|
pkt.reading_type = ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_READING_TYPE_GOOD;
|
|
break;
|
|
case AP_Proximity::Status::NoData:
|
|
default:
|
|
pkt.reading_type = ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_READING_TYPE_NO_DATA;
|
|
break;
|
|
}
|
|
|
|
uint8_t buffer[ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_MAX_SIZE] {};
|
|
uint16_t total_size = ardupilot_equipment_proximity_sensor_Proximity_encode(&pkt, buffer, !periph.canfdout());
|
|
|
|
canard_broadcast(ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_SIGNATURE,
|
|
ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_ID,
|
|
CANARD_TRANSFER_PRIORITY_LOW,
|
|
&buffer[0],
|
|
total_size);
|
|
|
|
}
|
|
}
|
|
|
|
#endif // HAL_PERIPH_ENABLE_PROXIMITY
|