mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.5 KiB
C++
104 lines
3.5 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_AirSimSITL.h"
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#if HAL_PROXIMITY_ENABLED
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL/AP_HAL.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 100.0f
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#define PROXIMITY_ACCURACY 0.1f // minimum distance (in meters) between objects sent to object database
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// update the state of the sensor
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void AP_Proximity_AirSimSITL::update(void)
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{
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SITL::vector3f_array &points = sitl->state.scanner.points;
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if (points.length == 0) {
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set_status(AP_Proximity::Status::NoData);
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return;
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}
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set_status(AP_Proximity::Status::Good);
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// reset all faces to default so that it can be filled with the fresh lidar data
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frontend.boundary.reset();
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// precalculate sq of min distance
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const float distance_min_sq = sq(distance_min());
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// variables used to reduce data sent to object database
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const float accuracy_sq = sq(PROXIMITY_ACCURACY);
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bool prev_pos_valid = false;
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Vector2f prev_pos;
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// clear temp boundary since we have a new message
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temp_boundary.reset();
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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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if (point.is_zero()) {
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continue;
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}
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// calculate distance to point and check larger than min distance
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const Vector2f new_pos = Vector2f{point.x, point.y};
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const float distance_sq = new_pos.length_squared();
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if (distance_sq > distance_min_sq) {
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// add distance to the 3D boundary
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const float yaw_angle_deg = wrap_360(degrees(atan2f(point.y, point.x)));
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const AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(yaw_angle_deg);
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// store the min distance in each face in a temp boundary
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temp_boundary.add_distance(face, yaw_angle_deg, safe_sqrt(distance_sq));
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// check distance from previous point to reduce amount of data sent to object database
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if (!prev_pos_valid || ((new_pos - prev_pos).length_squared() >= accuracy_sq)) {
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// update OA database
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database_push(yaw_angle_deg, safe_sqrt(distance_sq));
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// store point
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prev_pos_valid = true;
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prev_pos = new_pos;
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}
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}
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}
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// copy temp boundary to real boundary
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temp_boundary.update_3D_boundary(state.instance, frontend.boundary);
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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_AirSimSITL::distance_max() const
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{
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return PROXIMITY_MAX_RANGE;
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}
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float AP_Proximity_AirSimSITL::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_AirSimSITL::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 == HAL_BOARD_SITL
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#endif // HAL_PROXIMITY_ENABLED
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