ardupilot/libraries/AP_Proximity/AP_Proximity_MAV.cpp

80 lines
2.7 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Proximity_MAV.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <ctype.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the proximity sensor. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor
*/
AP_Proximity_MAV::AP_Proximity_MAV(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state) :
AP_Proximity_Backend(_frontend, _state)
{
}
// update the state of the sensor
void AP_Proximity_MAV::update(void)
{
// check for timeout and set health status
if ((_last_update_ms == 0) || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) {
set_status(AP_Proximity::Proximity_NoData);
} else {
set_status(AP_Proximity::Proximity_Good);
}
}
// get distance upwards in meters. returns true on success
bool AP_Proximity_MAV::get_upward_distance(float &distance) const
{
if ((_last_upward_update_ms != 0) && (AP_HAL::millis() - _last_upward_update_ms <= PROXIMITY_MAV_TIMEOUT_MS)) {
distance = _distance_upward;
return true;
}
return false;
}
// handle mavlink DISTANCE_SENSOR messages
void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
{
mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(msg, &packet);
// store distance to appropriate sector based on orientation field
if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) {
uint8_t sector = packet.orientation;
_angle[sector] = sector * 45;
_distance[sector] = packet.current_distance / 100.0f;
_distance_valid[sector] = true;
_distance_min = packet.min_distance / 100.0f;
_distance_max = packet.max_distance / 100.0f;
_last_update_ms = AP_HAL::millis();
update_boundary_for_sector(sector);
}
// store upward distance
if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_90) {
_distance_upward = packet.current_distance / 100.0f;
_last_upward_update_ms = AP_HAL::millis();
}
}