mirror of https://github.com/ArduPilot/ardupilot
87 lines
3.2 KiB
C++
87 lines
3.2 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_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.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_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type) :
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state(_state),
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sensor_type(_sensor_type)
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{
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_sem = hal.util->new_semaphore();
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}
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// update status based on distance measurement
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void AP_RangeFinder_Backend::update_status()
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{
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// check distance
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if ((int16_t)state.distance_cm > state.max_distance_cm) {
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set_status(RangeFinder::RangeFinder_OutOfRangeHigh);
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} else if ((int16_t)state.distance_cm < state.min_distance_cm) {
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set_status(RangeFinder::RangeFinder_OutOfRangeLow);
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} else {
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set_status(RangeFinder::RangeFinder_Good);
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}
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}
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// set status and update valid count
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void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_Status status)
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{
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state.status = status;
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// update valid count
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if (status == RangeFinder::RangeFinder_Good) {
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if (state.range_valid_count < 10) {
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state.range_valid_count++;
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}
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} else {
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state.range_valid_count = 0;
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}
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}
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/*
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set pre-arm checks to passed if the range finder has been exercised through a reasonable range of movement
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max distance sensed is at least 50cm > min distance sensed
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max distance < 200cm
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min distance sensed is within 10cm of ground clearance or sensor's minimum distance
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*/
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void AP_RangeFinder_Backend::update_pre_arm_check()
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{
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// return immediately if already passed or no sensor data
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if (state.pre_arm_check || state.status == RangeFinder::RangeFinder_NotConnected || state.status == RangeFinder::RangeFinder_NoData) {
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return;
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}
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// update min, max captured distances
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state.pre_arm_distance_min = MIN(state.distance_cm, state.pre_arm_distance_min);
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state.pre_arm_distance_max = MAX(state.distance_cm, state.pre_arm_distance_max);
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// Check that the range finder has been exercised through a realistic range of movement
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if (((state.pre_arm_distance_max - state.pre_arm_distance_min) > RANGEFINDER_PREARM_REQUIRED_CHANGE_CM) &&
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(state.pre_arm_distance_max < RANGEFINDER_PREARM_ALT_MAX_CM) &&
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((int16_t)state.pre_arm_distance_min < (MAX(state.ground_clearance_cm,state.min_distance_cm) + 10)) &&
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((int16_t)state.pre_arm_distance_min > (MIN(state.ground_clearance_cm,state.min_distance_cm) - 10))) {
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state.pre_arm_check = true;
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}
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}
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