mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.1 KiB
C++
73 lines
2.1 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_RangeFinder_MSP.h"
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#include <AP_HAL/AP_HAL.h>
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#if HAL_MSP_RANGEFINDER_ENABLED
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extern const AP_HAL::HAL& hal;
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/*
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The constructor also initialises the rangefinder. 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 rangefinder
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*/
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AP_RangeFinder_MSP::AP_RangeFinder_MSP(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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AP_RangeFinder_Backend(_state, _params)
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{
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state.last_reading_ms = AP_HAL::millis();
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distance_cm = 0;
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}
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/*
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detect if a MSP rangefinder is connected. We'll detect by
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checking a parameter.
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*/
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bool AP_RangeFinder_MSP::detect()
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{
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// Assume that if the user set the RANGEFINDER_TYPE parameter to MSP,
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// there is an attached MSP rangefinder
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return true;
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}
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/*
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Set the distance based on a MSP message
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*/
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void AP_RangeFinder_MSP::handle_msp(const MSP::msp_rangefinder_data_message_t &pkt)
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{
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state.last_reading_ms = AP_HAL::millis();
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distance_cm = pkt.distance_mm / 10;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_MSP::update(void)
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{
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//Time out on incoming data; if we don't get new
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//data in 500ms, dump it
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if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MSP_TIMEOUT_MS) {
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set_status(RangeFinder::Status::NoData);
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state.distance_m = 0.0f;
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} else {
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state.distance_m = distance_cm * 0.01f;
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update_status();
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}
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}
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#endif //HAL_MSP_RANGEFINDER_ENABLED
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