mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.6 KiB
C++
108 lines
3.6 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_Beacon_Backend.h"
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// debug
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#include <stdio.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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/*
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base class constructor.
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This incorporates initialisation as well.
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*/
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AP_Beacon_Backend::AP_Beacon_Backend(AP_Beacon &frontend) :
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_frontend(frontend)
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{
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const AP_SerialManager &serialmanager = AP::serialmanager();
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uart = serialmanager.find_serial(AP_SerialManager::SerialProtocol_Beacon, 0);
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if (uart == nullptr) {
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return;
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}
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uart->begin(serialmanager.find_baudrate(AP_SerialManager::SerialProtocol_Beacon, 0));
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}
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// set vehicle position
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// pos should be in meters in NED frame from the beacon's local origin
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// accuracy_estimate is also in meters
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void AP_Beacon_Backend::set_vehicle_position(const Vector3f& pos, float accuracy_estimate)
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{
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_frontend.veh_pos_update_ms = AP_HAL::millis();
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_frontend.veh_pos_accuracy = accuracy_estimate;
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_frontend.veh_pos_ned = correct_for_orient_yaw(pos);
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}
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// set individual beacon distance from vehicle in meters in NED frame
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void AP_Beacon_Backend::set_beacon_distance(uint8_t beacon_instance, float distance)
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{
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// sanity check instance
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if (beacon_instance >= AP_BEACON_MAX_BEACONS) {
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return;
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}
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// setup new beacon
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if (beacon_instance >= _frontend.num_beacons) {
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_frontend.num_beacons = beacon_instance+1;
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}
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_frontend.beacon_state[beacon_instance].distance_update_ms = AP_HAL::millis();
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_frontend.beacon_state[beacon_instance].distance = distance;
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_frontend.beacon_state[beacon_instance].healthy = true;
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}
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// set beacon's position
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// pos should be in meters in NED from the beacon's local origin
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void AP_Beacon_Backend::set_beacon_position(uint8_t beacon_instance, const Vector3f& pos)
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{
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// sanity check instance
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if (beacon_instance >= AP_BEACON_MAX_BEACONS) {
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return;
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}
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// setup new beacon
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if (beacon_instance >= _frontend.num_beacons) {
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_frontend.num_beacons = beacon_instance+1;
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}
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// set position after correcting yaw
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_frontend.beacon_state[beacon_instance].position = correct_for_orient_yaw(pos);
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}
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// rotate vector (meters) to correct for beacon system yaw orientation
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Vector3f AP_Beacon_Backend::correct_for_orient_yaw(const Vector3f &vector)
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{
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// exit immediately if no correction
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if (_frontend.orient_yaw == 0) {
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return vector;
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}
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// check for change in parameter value and update constants
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if (orient_yaw_deg != _frontend.orient_yaw) {
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_frontend.orient_yaw.set(wrap_180(_frontend.orient_yaw.get()));
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// calculate rotation constants
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orient_yaw_deg = _frontend.orient_yaw;
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orient_cos_yaw = cosf(radians(orient_yaw_deg));
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orient_sin_yaw = sinf(radians(orient_yaw_deg));
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}
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// rotate x,y by -orient_yaw
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Vector3f vec_rotated;
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vec_rotated.x = vector.x*orient_cos_yaw - vector.y*orient_sin_yaw;
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vec_rotated.y = vector.x*orient_sin_yaw + vector.y*orient_cos_yaw;
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vec_rotated.z = vector.z;
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return vec_rotated;
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}
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