mirror of https://github.com/ArduPilot/ardupilot
605 lines
20 KiB
C++
605 lines
20 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.h"
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#if HAL_PROXIMITY_ENABLED
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#include "AP_Proximity_RPLidarA2.h"
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#include "AP_Proximity_TeraRangerTower.h"
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#include "AP_Proximity_TeraRangerTowerEvo.h"
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#include "AP_Proximity_RangeFinder.h"
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#include "AP_Proximity_MAV.h"
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#include "AP_Proximity_LightWareSF40C.h"
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#include "AP_Proximity_LightWareSF45B.h"
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#include "AP_Proximity_SITL.h"
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#include "AP_Proximity_AirSimSITL.h"
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#include "AP_Proximity_Cygbot_D1.h"
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#include <AP_Logger/AP_Logger.h>
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extern const AP_HAL::HAL &hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Proximity::var_info[] = {
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// 0 is reserved for possible addition of an ENABLED parameter
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// @Param: _TYPE
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// @DisplayName: Proximity type
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// @Description: What type of proximity sensor is connected
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// @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Proximity, _type[0], 0, AP_PARAM_FLAG_ENABLE),
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// @Param: _ORIENT
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// @DisplayName: Proximity sensor orientation
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// @Description: Proximity sensor orientation
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// @Values: 0:Default,1:Upside Down
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// @User: Standard
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AP_GROUPINFO("_ORIENT", 2, AP_Proximity, _orientation[0], 0),
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// @Param: _YAW_CORR
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// @DisplayName: Proximity sensor yaw correction
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// @Description: Proximity sensor yaw correction
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// @Units: deg
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// @Range: -180 180
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// @User: Standard
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AP_GROUPINFO("_YAW_CORR", 3, AP_Proximity, _yaw_correction[0], 0),
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// @Param: _IGN_ANG1
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// @DisplayName: Proximity sensor ignore angle 1
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// @Description: Proximity sensor ignore angle 1
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG1", 4, AP_Proximity, _ignore_angle_deg[0], 0),
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// @Param: _IGN_WID1
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// @DisplayName: Proximity sensor ignore width 1
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// @Description: Proximity sensor ignore width 1
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID1", 5, AP_Proximity, _ignore_width_deg[0], 0),
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// @Param: _IGN_ANG2
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// @DisplayName: Proximity sensor ignore angle 2
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// @Description: Proximity sensor ignore angle 2
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG2", 6, AP_Proximity, _ignore_angle_deg[1], 0),
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// @Param: _IGN_WID2
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// @DisplayName: Proximity sensor ignore width 2
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// @Description: Proximity sensor ignore width 2
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID2", 7, AP_Proximity, _ignore_width_deg[1], 0),
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// @Param: _IGN_ANG3
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// @DisplayName: Proximity sensor ignore angle 3
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// @Description: Proximity sensor ignore angle 3
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG3", 8, AP_Proximity, _ignore_angle_deg[2], 0),
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// @Param: _IGN_WID3
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// @DisplayName: Proximity sensor ignore width 3
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// @Description: Proximity sensor ignore width 3
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID3", 9, AP_Proximity, _ignore_width_deg[2], 0),
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// @Param: _IGN_ANG4
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// @DisplayName: Proximity sensor ignore angle 4
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// @Description: Proximity sensor ignore angle 4
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG4", 10, AP_Proximity, _ignore_angle_deg[3], 0),
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// @Param: _IGN_WID4
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// @DisplayName: Proximity sensor ignore width 4
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// @Description: Proximity sensor ignore width 4
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID4", 11, AP_Proximity, _ignore_width_deg[3], 0),
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// @Param: _IGN_ANG5
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// @DisplayName: Proximity sensor ignore angle 5
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// @Description: Proximity sensor ignore angle 5
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG5", 12, AP_Proximity, _ignore_angle_deg[4], 0),
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// @Param: _IGN_WID5
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// @DisplayName: Proximity sensor ignore width 5
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// @Description: Proximity sensor ignore width 5
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID5", 13, AP_Proximity, _ignore_width_deg[4], 0),
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// @Param: _IGN_ANG6
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// @DisplayName: Proximity sensor ignore angle 6
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// @Description: Proximity sensor ignore angle 6
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_IGN_ANG6", 14, AP_Proximity, _ignore_angle_deg[5], 0),
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// @Param: _IGN_WID6
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// @DisplayName: Proximity sensor ignore width 6
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// @Description: Proximity sensor ignore width 6
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// @Units: deg
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// @Range: 0 127
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// @User: Standard
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AP_GROUPINFO("_IGN_WID6", 15, AP_Proximity, _ignore_width_deg[5], 0),
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// @Param{Copter}: _IGN_GND
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// @DisplayName: Proximity sensor land detection
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// @Description: Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder
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// @Values: 0:Disabled, 1:Enabled
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// @User: Standard
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AP_GROUPINFO_FRAME("_IGN_GND", 16, AP_Proximity, _ign_gnd_enable, 0, AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_HELI | AP_PARAM_FRAME_TRICOPTER),
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// @Param: _LOG_RAW
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// @DisplayName: Proximity raw distances log
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// @Description: Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled
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// @Values: 0:Off, 1:On
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// @User: Advanced
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AP_GROUPINFO("_LOG_RAW", 17, AP_Proximity, _raw_log_enable, 0),
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// @Param: _FILT
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// @DisplayName: Proximity filter cutoff frequency
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// @Description: Cutoff frequency for low pass filter applied to each face in the proximity boundary
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// @Units: Hz
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// @Range: 0 20
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// @User: Advanced
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AP_GROUPINFO("_FILT", 18, AP_Proximity, _filt_freq, 0.25f),
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// @Param: _MIN
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// @DisplayName: Proximity minimum range
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// @Description: Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
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// @Units: m
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// @Range: 0 500
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// @User: Advanced
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AP_GROUPINFO("_MIN", 19, AP_Proximity, _min_m, 0.0f),
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// @Param: _MAX
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// @DisplayName: Proximity maximum range
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// @Description: Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
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// @Units: m
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// @Range: 0 500
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// @User: Advanced
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AP_GROUPINFO("_MAX", 20, AP_Proximity, _max_m, 0.0f),
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AP_GROUPEND
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};
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AP_Proximity::AP_Proximity()
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{
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AP_Param::setup_object_defaults(this, var_info);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_Proximity must be singleton");
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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_singleton = this;
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}
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// initialise the Proximity class. We do detection of attached sensors here
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// we don't allow for hot-plugging of sensors (i.e. reboot required)
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void AP_Proximity::init(void)
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{
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if (num_instances != 0) {
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// init called a 2nd time?
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return;
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}
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for (uint8_t i=0; i<PROXIMITY_MAX_INSTANCES; i++) {
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detect_instance(i);
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if (drivers[i] != nullptr) {
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// we loaded a driver for this instance, so it must be
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// present (although it may not be healthy)
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num_instances = i+1;
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}
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// initialise status
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state[i].status = Status::NotConnected;
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}
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}
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// update Proximity state for all instances. This should be called at a high rate by the main loop
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void AP_Proximity::update(void)
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{
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for (uint8_t i=0; i<num_instances; i++) {
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if (!valid_instance(i)) {
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continue;
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}
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drivers[i]->update();
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drivers[i]->boundary_3D_checks();
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}
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// work out primary instance - first sensor returning good data
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for (int8_t i=num_instances-1; i>=0; i--) {
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if (drivers[i] != nullptr && (state[i].status == Status::Good)) {
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primary_instance = i;
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}
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}
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}
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// return sensor orientation
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uint8_t AP_Proximity::get_orientation(uint8_t instance) const
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{
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if (!valid_instance(instance)) {
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return 0;
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}
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return _orientation[instance].get();
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}
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// return sensor yaw correction
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int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
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{
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if (!valid_instance(instance)) {
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return 0;
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}
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return _yaw_correction[instance].get();
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}
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// return sensor health
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AP_Proximity::Status AP_Proximity::get_status(uint8_t instance) const
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{
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// sanity check instance number
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if (!valid_instance(instance)) {
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return Status::NotConnected;
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}
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return state[instance].status;
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}
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AP_Proximity::Status AP_Proximity::get_status() const
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{
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return get_status(primary_instance);
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}
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// handle mavlink DISTANCE_SENSOR messages
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void AP_Proximity::handle_msg(const mavlink_message_t &msg)
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{
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for (uint8_t i=0; i<num_instances; i++) {
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if (valid_instance(i)) {
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drivers[i]->handle_msg(msg);
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}
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}
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}
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// detect if an instance of a proximity sensor is connected.
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void AP_Proximity::detect_instance(uint8_t instance)
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{
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switch (get_type(instance)) {
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case Type::None:
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return;
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case Type::RPLidarA2:
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if (AP_Proximity_RPLidarA2::detect()) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_RPLidarA2(*this, state[instance]);
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return;
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}
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break;
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case Type::MAV:
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_MAV(*this, state[instance]);
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return;
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case Type::TRTOWER:
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if (AP_Proximity_TeraRangerTower::detect()) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_TeraRangerTower(*this, state[instance]);
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return;
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}
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break;
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case Type::TRTOWEREVO:
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if (AP_Proximity_TeraRangerTowerEvo::detect()) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance]);
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return;
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}
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break;
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case Type::RangeFinder:
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance]);
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return;
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case Type::SF40C:
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if (AP_Proximity_LightWareSF40C::detect()) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance]);
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return;
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}
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break;
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case Type::SF45B:
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if (AP_Proximity_LightWareSF45B::detect()) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_LightWareSF45B(*this, state[instance]);
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return;
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}
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break;
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case Type::CYGBOT_D1:
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#if AP_PROXIMITY_CYGBOT_ENABLED
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if (AP_Proximity_Cygbot_D1::detect()) {
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_Cygbot_D1(*this, state[instance]);
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return;
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}
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# endif
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break;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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case Type::SITL:
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_SITL(*this, state[instance]);
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return;
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case Type::AirSimSITL:
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state[instance].instance = instance;
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drivers[instance] = new AP_Proximity_AirSimSITL(*this, state[instance]);
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return;
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#endif
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}
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}
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// get distances in 8 directions. used for sending distances to ground station
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bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const
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{
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if (!valid_instance(primary_instance)) {
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return false;
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}
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// get distances from backend
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return drivers[primary_instance]->get_horizontal_distances(prx_dist_array);
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}
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// get raw and filtered distances in 8 directions per layer. used for logging
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bool AP_Proximity::get_active_layer_distances(uint8_t layer, AP_Proximity::Proximity_Distance_Array &prx_dist_array, AP_Proximity::Proximity_Distance_Array &prx_filt_dist_array) const
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{
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if (!valid_instance(primary_instance)) {
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return false;
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}
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// get distances from backend
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return drivers[primary_instance]->get_active_layer_distances(layer, prx_dist_array, prx_filt_dist_array);
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}
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// get total number of obstacles, used in GPS based Simple Avoidance
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uint8_t AP_Proximity::get_obstacle_count() const
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{
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if (!valid_instance(primary_instance)) {
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return 0;
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}
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return drivers[primary_instance]->get_obstacle_count();
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}
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// get number of layers.
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uint8_t AP_Proximity::get_num_layers() const
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{
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if (!valid_instance(primary_instance)) {
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return 0;
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}
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return drivers[primary_instance]->get_num_layers();
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}
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// get vector to obstacle based on obstacle_num passed, used in GPS based Simple Avoidance
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bool AP_Proximity::get_obstacle(uint8_t obstacle_num, Vector3f& vec_to_obstacle) const
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{
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if (!valid_instance(primary_instance)) {
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return false;
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}
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return drivers[primary_instance]->get_obstacle(obstacle_num, vec_to_obstacle);
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}
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// returns shortest distance to "obstacle_num" obstacle, from a line segment formed between "seg_start" and "seg_end"
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// used in GPS based Simple Avoidance
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bool AP_Proximity::closest_point_from_segment_to_obstacle(uint8_t obstacle_num, const Vector3f& seg_start, const Vector3f& seg_end, Vector3f& closest_point) const
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{
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if (!valid_instance(primary_instance)) {
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return false;
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}
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return drivers[primary_instance]->closest_point_from_segment_to_obstacle(obstacle_num, seg_start, seg_end, closest_point);
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}
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// get distance and angle to closest object (used for pre-arm check)
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// returns true on success, false if no valid readings
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bool AP_Proximity::get_closest_object(float& angle_deg, float &distance) const
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{
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if (!valid_instance(primary_instance)) {
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return false;
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}
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// get closest object from backend
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return drivers[primary_instance]->get_closest_object(angle_deg, distance);
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}
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// get number of objects, used for non-GPS avoidance
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uint8_t AP_Proximity::get_object_count() const
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{
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if (!valid_instance(primary_instance)) {
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return 0;
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}
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// get count from backend
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return drivers[primary_instance]->get_horizontal_object_count();
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}
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// get an object's angle and distance, used for non-GPS avoidance
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// returns false if no angle or distance could be returned for some reason
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bool AP_Proximity::get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const
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{
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if (!valid_instance(primary_instance)) {
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return false;
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}
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// get angle and distance from backend
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return drivers[primary_instance]->get_horizontal_object_angle_and_distance(object_number, angle_deg, distance);
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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::distance_max() const
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{
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if (!valid_instance(primary_instance)) {
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return 0.0f;
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}
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// get maximum distance from backend
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return drivers[primary_instance]->distance_max();
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}
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float AP_Proximity::distance_min() const
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{
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if (!valid_instance(primary_instance)) {
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return 0.0f;
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}
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// get minimum distance from backend
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return drivers[primary_instance]->distance_min();
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}
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// get distance in meters upwards, returns true on success
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bool AP_Proximity::get_upward_distance(uint8_t instance, float &distance) const
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{
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if (!valid_instance(instance)) {
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return false;
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}
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// get upward distance from backend
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return drivers[instance]->get_upward_distance(distance);
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}
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|
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bool AP_Proximity::get_upward_distance(float &distance) const
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{
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return get_upward_distance(primary_instance, distance);
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}
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|
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AP_Proximity::Type AP_Proximity::get_type(uint8_t instance) const
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{
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if (instance < PROXIMITY_MAX_INSTANCES) {
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return (Type)((uint8_t)_type[instance]);
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|
}
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|
return Type::None;
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|
}
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|
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bool AP_Proximity::sensor_present() const
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|
{
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|
return get_status() != Status::NotConnected;
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}
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bool AP_Proximity::sensor_enabled() const
|
|
{
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|
return get_type(primary_instance) != Type::None;
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|
}
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bool AP_Proximity::sensor_failed() const
|
|
{
|
|
return get_status() != Status::Good;
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|
}
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|
|
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// set alt as read from dowward facing rangefinder. Tilt is already adjusted for.
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|
void AP_Proximity::set_rangefinder_alt(bool use, bool healthy, float alt_cm)
|
|
{
|
|
if (!valid_instance(primary_instance)) {
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|
return;
|
|
}
|
|
// store alt at the backend
|
|
drivers[primary_instance]->set_rangefinder_alt(use, healthy, alt_cm);
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|
}
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|
|
|
#if HAL_LOGGING_ENABLED
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// Write proximity sensor distances
|
|
void AP_Proximity::log()
|
|
{
|
|
// exit immediately if not enabled
|
|
if (get_status() == AP_Proximity::Status::NotConnected) {
|
|
return;
|
|
}
|
|
|
|
Proximity_Distance_Array dist_array{}; // raw distances stored here
|
|
Proximity_Distance_Array filt_dist_array{}; //filtered distances stored here
|
|
auto &logger { AP::logger() };
|
|
for (uint8_t i = 0; i < get_num_layers(); i++) {
|
|
const bool active = get_active_layer_distances(i, dist_array, filt_dist_array);
|
|
if (!active) {
|
|
// nothing on this layer
|
|
continue;
|
|
}
|
|
float dist_up;
|
|
if (!get_upward_distance(dist_up)) {
|
|
dist_up = 0.0f;
|
|
}
|
|
|
|
float closest_ang = 0.0f;
|
|
float closest_dist = 0.0f;
|
|
get_closest_object(closest_ang, closest_dist);
|
|
|
|
const struct log_Proximity pkt_proximity{
|
|
LOG_PACKET_HEADER_INIT(LOG_PROXIMITY_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
instance : i,
|
|
health : (uint8_t)get_status(),
|
|
dist0 : filt_dist_array.distance[0],
|
|
dist45 : filt_dist_array.distance[1],
|
|
dist90 : filt_dist_array.distance[2],
|
|
dist135 : filt_dist_array.distance[3],
|
|
dist180 : filt_dist_array.distance[4],
|
|
dist225 : filt_dist_array.distance[5],
|
|
dist270 : filt_dist_array.distance[6],
|
|
dist315 : filt_dist_array.distance[7],
|
|
distup : dist_up,
|
|
closest_angle : closest_ang,
|
|
closest_dist : closest_dist
|
|
};
|
|
logger.WriteBlock(&pkt_proximity, sizeof(pkt_proximity));
|
|
|
|
if (_raw_log_enable) {
|
|
const struct log_Proximity_raw pkt_proximity_raw{
|
|
LOG_PACKET_HEADER_INIT(LOG_RAW_PROXIMITY_MSG),
|
|
time_us : AP_HAL::micros64(),
|
|
instance : i,
|
|
raw_dist0 : dist_array.distance[0],
|
|
raw_dist45 : dist_array.distance[1],
|
|
raw_dist90 : dist_array.distance[2],
|
|
raw_dist135 : dist_array.distance[3],
|
|
raw_dist180 : dist_array.distance[4],
|
|
raw_dist225 : dist_array.distance[5],
|
|
raw_dist270 : dist_array.distance[6],
|
|
raw_dist315 : dist_array.distance[7],
|
|
};
|
|
logger.WriteBlock(&pkt_proximity_raw, sizeof(pkt_proximity_raw));
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
AP_Proximity *AP_Proximity::_singleton;
|
|
|
|
namespace AP {
|
|
|
|
AP_Proximity *proximity()
|
|
{
|
|
return AP_Proximity::get_singleton();
|
|
}
|
|
|
|
}
|
|
|
|
#endif // HAL_PROXIMITY_ENABLED
|