mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.9 KiB
C++
81 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_HAL/AP_HAL.h>
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#include "AP_Proximity_MAV.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <ctype.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initialises the proximity sensor. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the proximity sensor
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*/
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AP_Proximity_MAV::AP_Proximity_MAV(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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{
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}
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// update the state of the sensor
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void AP_Proximity_MAV::update(void)
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{
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// check for timeout and set health status
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if ((_last_update_ms == 0 || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) &&
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(_last_upward_update_ms == 0 || (AP_HAL::millis() - _last_upward_update_ms > PROXIMITY_MAV_TIMEOUT_MS))) {
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set_status(AP_Proximity::Proximity_NoData);
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} else {
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set_status(AP_Proximity::Proximity_Good);
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}
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}
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// get distance upwards in meters. returns true on success
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bool AP_Proximity_MAV::get_upward_distance(float &distance) const
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{
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if ((_last_upward_update_ms != 0) && (AP_HAL::millis() - _last_upward_update_ms <= PROXIMITY_MAV_TIMEOUT_MS)) {
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distance = _distance_upward;
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return true;
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}
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return false;
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}
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// handle mavlink DISTANCE_SENSOR messages
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void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
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{
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mavlink_distance_sensor_t packet;
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mavlink_msg_distance_sensor_decode(msg, &packet);
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// store distance to appropriate sector based on orientation field
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if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) {
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uint8_t sector = packet.orientation;
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_angle[sector] = sector * 45;
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_distance[sector] = packet.current_distance / 100.0f;
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_distance_min = packet.min_distance / 100.0f;
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_distance_max = packet.max_distance / 100.0f;
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_distance_valid[sector] = (_distance[sector] >= _distance_min) && (_distance[sector] <= _distance_max);
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_last_update_ms = AP_HAL::millis();
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update_boundary_for_sector(sector);
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}
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// store upward distance
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if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_90) {
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_distance_upward = packet.current_distance / 100.0f;
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_last_upward_update_ms = AP_HAL::millis();
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}
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}
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