mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.9 KiB
C++
91 lines
2.9 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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#include <AP_Common/AP_Common.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_HAL/AP_HAL.h>
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#if HAL_PROXIMITY_ENABLED
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#define PROXIMITY_ALT_DETECT_TIMEOUT_MS 500 // alt readings should arrive within this much time
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extern const AP_HAL::HAL& hal;
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// set alt as read from downward facing rangefinder. Tilt is already adjusted for.
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void AP_Proximity::set_rangefinder_alt(bool use, bool healthy, float alt_cm)
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{
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_rangefinder_state.use = use;
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_rangefinder_state.healthy = healthy;
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_rangefinder_state.alt_cm = alt_cm;
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_rangefinder_state.last_downward_update_ms = AP_HAL::millis();
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}
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// get alt from rangefinder in meters
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bool AP_Proximity::get_rangefinder_alt(float &alt_m) const
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{
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if (!_rangefinder_state.use || !_rangefinder_state.healthy) {
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// range finder is not healthy
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return false;
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}
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const uint32_t dt = AP_HAL::millis() - _rangefinder_state.last_downward_update_ms;
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if (dt > PROXIMITY_ALT_DETECT_TIMEOUT_MS) {
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return false;
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}
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// readings are healthy
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alt_m = _rangefinder_state.alt_cm * 0.01f;
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return true;
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}
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// Check if Obstacle defined by body-frame yaw and pitch is near ground
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bool AP_Proximity::check_obstacle_near_ground(float pitch, float yaw, float distance) const
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{
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if (!_ign_gnd_enable) {
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return false;
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}
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if (!hal.util->get_soft_armed()) {
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// don't run this feature while vehicle is disarmed, otherwise proximity data will not show up on GCS
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return false;
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}
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if ((pitch > 90.0f) || (pitch < -90.0f)) {
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// sanity check on pitch
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return false;
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}
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// Assume object is yaw and pitch bearing and distance meters away from the vehicle
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Vector3f object_3D;
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object_3D.offset_bearing(wrap_180(yaw), (pitch * -1.0f), distance);
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const Matrix3f body_to_ned = AP::ahrs().get_rotation_body_to_ned();
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const Vector3f rotated_object_3D = body_to_ned * object_3D;
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float alt = FLT_MAX;
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if (!get_rangefinder_alt(alt)) {
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return false;
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}
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if (rotated_object_3D.z > -0.5f) {
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// obstacle is at the most 0.5 meters above vehicle
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if ((alt - _alt_min) < rotated_object_3D.z) {
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// obstacle is near or below ground
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return true;
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}
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}
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return false;
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}
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#endif // HAL_PROXIMITY_ENABLED
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