mirror of https://github.com/ArduPilot/ardupilot
233 lines
8.3 KiB
C++
233 lines
8.3 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_Backend.h"
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#if HAL_PROXIMITY_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_Common/Location.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AC_Avoidance/AP_OADatabase.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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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_Proximity_Backend::AP_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state) :
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frontend(_frontend),
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state(_state)
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{
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}
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static_assert(PROXIMITY_MAX_DIRECTION <= 8,
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"get_horizontal_distances assumes 8-bits is enough for validity bitmask");
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// get distances in PROXIMITY_MAX_DIRECTION directions horizontally. used for sending distances to ground station
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bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
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{
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AP_Proximity::Proximity_Distance_Array prx_filt_dist_array; // unused
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return boundary.get_layer_distances(PROXIMITY_MIDDLE_LAYER, distance_max(), prx_dist_array, prx_filt_dist_array);
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}
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// get distances in PROXIMITY_MAX_DIRECTION directions at a layer. used for logging
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bool AP_Proximity_Backend::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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return boundary.get_layer_distances(layer, distance_max(), prx_dist_array, prx_filt_dist_array);
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}
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// set status and update valid count
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void AP_Proximity_Backend::set_status(AP_Proximity::Status status)
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{
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state.status = status;
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}
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// timeout faces that have not received data recently and update filter frequencies
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void AP_Proximity_Backend::boundary_3D_checks()
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{
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// set the cutoff freq for low pass filter
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boundary.set_filter_freq(frontend.get_filter_freq());
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// check if any face has valid distance when it should not
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const uint32_t now_ms = AP_HAL::millis();
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// run this check every PROXIMITY_BOUNDARY_3D_TIMEOUT_MS
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if ((now_ms - _last_timeout_check_ms) > PROXIMITY_BOUNDARY_3D_TIMEOUT_MS) {
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_last_timeout_check_ms = now_ms;
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boundary.check_face_timeout();
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}
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}
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// correct an angle (in degrees) based on the orientation and yaw correction parameters
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float AP_Proximity_Backend::correct_angle_for_orientation(float angle_degrees) const
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{
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const float angle_sign = (frontend.get_orientation(state.instance) == 1) ? -1.0f : 1.0f;
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return wrap_360(angle_degrees * angle_sign + frontend.get_yaw_correction(state.instance));
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}
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// check if a reading should be ignored because it falls into an ignore area (check_for_ign_area should be sent as false if this check is not needed)
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// pitch is the vertical body-frame angle (in degrees) to the obstacle (0=directly ahead, 90 is above the vehicle)
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// yaw is the horizontal body-frame angle (in degrees) to the obstacle (0=directly ahead of the vehicle, 90 is to the right of the vehicle)
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// Also checks if obstacle is near land or out of range
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// angles should be in degrees and in the range of 0 to 360, distance should be in meteres
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bool AP_Proximity_Backend::ignore_reading(float pitch, float yaw, float distance_m, bool check_for_ign_area) const
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{
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// check if distances are supposed to be in a particular range
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if (!is_zero(frontend._max_m)) {
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if (distance_m > frontend._max_m) {
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// too far away
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return true;
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}
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}
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if (!is_zero(frontend._min_m)) {
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if (distance_m < frontend._min_m) {
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// too close
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return true;
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}
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}
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if (check_for_ign_area) {
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// check angle vs each ignore area
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for (uint8_t i=0; i < PROXIMITY_MAX_IGNORE; i++) {
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if (frontend._ignore_width_deg[i] != 0) {
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if (abs(yaw - frontend._ignore_angle_deg[i]) <= (frontend._ignore_width_deg[i]/2)) {
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return true;
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}
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}
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}
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}
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// check if obstacle is near land
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return check_obstacle_near_ground(pitch, yaw, distance_m);
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}
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// store rangefinder values
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void AP_Proximity_Backend::set_rangefinder_alt(bool use, bool healthy, float alt_cm)
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{
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_last_downward_update_ms = AP_HAL::millis();
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_rangefinder_use = use;
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_rangefinder_healthy = healthy;
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_rangefinder_alt = alt_cm * 0.01f;
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}
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// get alt from rangefinder in meters
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bool AP_Proximity_Backend::get_rangefinder_alt(float &alt_m) const
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{
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if (!_rangefinder_use || !_rangefinder_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() - _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_alt;
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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_Backend::check_obstacle_near_ground(float pitch, float yaw, float distance) const
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{
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if (!frontend._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 - PROXIMITY_GND_DETECT_THRESHOLD) < 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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// returns true if database is ready to be pushed to and all cached data is ready
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bool AP_Proximity_Backend::database_prepare_for_push(Vector3f ¤t_pos, Matrix3f &body_to_ned)
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{
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AP_OADatabase *oaDb = AP::oadatabase();
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if (oaDb == nullptr || !oaDb->healthy()) {
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return false;
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}
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if (!AP::ahrs().get_relative_position_NED_origin(current_pos)) {
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return false;
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}
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body_to_ned = AP::ahrs().get_rotation_body_to_ned();
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return true;
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}
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// update Object Avoidance database with Earth-frame point
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void AP_Proximity_Backend::database_push(float angle, float distance)
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{
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Vector3f current_pos;
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Matrix3f body_to_ned;
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if (database_prepare_for_push(current_pos, body_to_ned)) {
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database_push(angle, distance, AP_HAL::millis(), current_pos, body_to_ned);
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}
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}
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// update Object Avoidance database with Earth-frame point
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// pitch can be optionally provided if needed
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void AP_Proximity_Backend::database_push(float angle, float pitch, float distance, uint32_t timestamp_ms, const Vector3f ¤t_pos, const Matrix3f &body_to_ned)
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{
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AP_OADatabase *oaDb = AP::oadatabase();
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if (oaDb == nullptr || !oaDb->healthy()) {
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return;
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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;
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}
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//Assume object is angle 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(angle), (pitch * -1.0f), distance);
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const Vector3f rotated_object_3D = body_to_ned * object_3D;
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//Calculate the position vector from origin
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Vector3f temp_pos = current_pos + rotated_object_3D;
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//Convert the vector to a NEU frame from NED
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temp_pos.z = temp_pos.z * -1.0f;
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oaDb->queue_push(temp_pos, timestamp_ms, distance);
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}
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#endif // HAL_PROXIMITY_ENABLED
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