mirror of https://github.com/ArduPilot/ardupilot
141 lines
4.4 KiB
C++
141 lines
4.4 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_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_Param/AP_Param.h>
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#include "AP_Proximity_SITL.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 200.0f
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#define PROXIMITY_ACCURACY 0.1f
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/*
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The constructor also initialises the proximity sensor.
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*/
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AP_Proximity_SITL::AP_Proximity_SITL(AP_Proximity &_frontend,
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AP_Proximity::Proximity_State &_state):
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AP_Proximity_Backend(_frontend, _state),
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sitl(AP::sitl())
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{
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ap_var_type ptype;
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fence_count = (AP_Int8 *)AP_Param::find("FENCE_TOTAL", &ptype);
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if (fence_count == nullptr || ptype != AP_PARAM_INT8) {
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AP_HAL::panic("Proximity_SITL: Failed to find FENCE_TOTAL");
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}
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fence_alt_max = (AP_Float *)AP_Param::find("FENCE_ALT_MAX", &ptype);
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if (fence_alt_max == nullptr || ptype != AP_PARAM_FLOAT) {
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AP_HAL::panic("Proximity_SITL: Failed to find FENCE_ALT_MAX");
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}
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}
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// update the state of the sensor
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void AP_Proximity_SITL::update(void)
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{
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load_fence();
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current_loc.lat = sitl->state.latitude * 1.0e7;
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current_loc.lng = sitl->state.longitude * 1.0e7;
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current_loc.alt = sitl->state.altitude * 1.0e2;
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if (fence && fence_loader.boundary_valid(fence_count->get(), fence)) {
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// update distance in one sector
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if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) {
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set_status(AP_Proximity::Proximity_Good);
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_distance_valid[last_sector] = true;
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_angle[last_sector] = _sector_middle_deg[last_sector];
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update_boundary_for_sector(last_sector);
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} else {
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_distance_valid[last_sector] = false;
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}
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last_sector++;
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if (last_sector >= _num_sectors) {
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last_sector = 0;
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}
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} else {
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set_status(AP_Proximity::Proximity_NoData);
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}
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}
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void AP_Proximity_SITL::load_fence(void)
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{
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uint32_t now = AP_HAL::millis();
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if (now - last_load_ms < 1000) {
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return;
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}
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last_load_ms = now;
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if (fence == nullptr) {
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fence = (Vector2l *)fence_loader.create_point_array(sizeof(Vector2l));
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}
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if (fence == nullptr) {
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return;
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}
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for (uint8_t i=0; i<fence_count->get(); i++) {
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fence_loader.load_point_from_eeprom(i, fence[i]);
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}
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}
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// get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction)
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bool AP_Proximity_SITL::get_distance_to_fence(float angle_deg, float &distance) const
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{
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if (!fence_loader.boundary_valid(fence_count->get(), fence)) {
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return false;
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}
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// convert to earth frame
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angle_deg = wrap_360(sitl->state.yawDeg + angle_deg);
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/*
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simple bisection search to find distance. Not really efficient,
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but we can afford the CPU in SITL
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*/
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float min_dist = 0, max_dist = PROXIMITY_MAX_RANGE;
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while (max_dist - min_dist > PROXIMITY_ACCURACY) {
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float test_dist = (max_dist+min_dist)*0.5f;
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Location loc = current_loc;
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loc.offset_bearing(angle_deg, test_dist);
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Vector2l vecloc(loc.lat, loc.lng);
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if (fence_loader.boundary_breached(vecloc, fence_count->get(), fence)) {
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max_dist = test_dist;
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} else {
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min_dist = test_dist;
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}
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}
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distance = min_dist;
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return true;
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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_SITL::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_SITL::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_SITL::get_upward_distance(float &distance) const
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{
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// return distance to fence altitude
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distance = MAX(0.0f, fence_alt_max->get() - sitl->height_agl);
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return true;
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}
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#endif // CONFIG_HAL_BOARD
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