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ardupilot/libraries/AP_RangeFinder/RangeFinder.cpp

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/*
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 "RangeFinder.h"
#include "AP_RangeFinder_analog.h"
#include "AP_RangeFinder_PulsedLightLRF.h"
#include "AP_RangeFinder_MaxsonarI2CXL.h"
#include "AP_RangeFinder_MaxsonarSerialLV.h"
#include "AP_RangeFinder_BBB_PRU.h"
#include "AP_RangeFinder_LightWareI2C.h"
#include "AP_RangeFinder_LightWareSerial.h"
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && \
defined(HAVE_LIBIIO)
#include "AP_RangeFinder_Bebop.h"
#endif
#include "AP_RangeFinder_MAVLink.h"
#include "AP_RangeFinder_LeddarOne.h"
#include "AP_RangeFinder_uLanding.h"
#include "AP_RangeFinder_TeraRangerI2C.h"
#include "AP_RangeFinder_VL53L0X.h"
#include "AP_RangeFinder_VL53L1X.h"
#include "AP_RangeFinder_NMEA.h"
#include "AP_RangeFinder_Wasp.h"
#include "AP_RangeFinder_Benewake.h"
#include "AP_RangeFinder_Benewake_TFMiniPlus.h"
#include "AP_RangeFinder_PWM.h"
#include "AP_RangeFinder_BLPing.h"
#include "AP_RangeFinder_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL &hal;
// table of user settable parameters
const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Group: 1_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[0], "1_", 25, RangeFinder, AP_RangeFinder_Params),
// @Group: 1_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[0], "1_", 57, RangeFinder, backend_var_info[0]),
#if RANGEFINDER_MAX_INSTANCES > 1
// @Group: 2_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[1], "2_", 27, RangeFinder, AP_RangeFinder_Params),
// @Group: 2_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[1], "2_", 58, RangeFinder, backend_var_info[1]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 2
// @Group: 3_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[2], "3_", 29, RangeFinder, AP_RangeFinder_Params),
// @Group: 3_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[2], "3_", 59, RangeFinder, backend_var_info[2]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 3
// @Group: 4_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[3], "4_", 31, RangeFinder, AP_RangeFinder_Params),
// @Group: 4_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[0], "4_", 60, RangeFinder, backend_var_info[3]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 4
// @Group: 5_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[4], "5_", 33, RangeFinder, AP_RangeFinder_Params),
// @Group: 5_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[4], "5_", 34, RangeFinder, backend_var_info[4]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 5
// @Group: 6_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[5], "6_", 35, RangeFinder, AP_RangeFinder_Params),
// @Group: 6_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[5], "6_", 36, RangeFinder, backend_var_info[5]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 6
// @Group: 7_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[6], "7_", 37, RangeFinder, AP_RangeFinder_Params),
// @Group: 7_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[6], "7_", 38, RangeFinder, backend_var_info[6]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 7
// @Group: 8_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[7], "8_", 39, RangeFinder, AP_RangeFinder_Params),
// @Group: 8_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[7], "8_", 40, RangeFinder, backend_var_info[7]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 8
// @Group: 9_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[8], "9_", 41, RangeFinder, AP_RangeFinder_Params),
// @Group: 9_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[8], "9_", 42, RangeFinder, backend_var_info[8]),
#endif
#if RANGEFINDER_MAX_INSTANCES > 9
// @Group: A_
// @Path: AP_RangeFinder_Params.cpp
AP_SUBGROUPINFO(params[9], "A_", 43, RangeFinder, AP_RangeFinder_Params),
// @Group: A_
// @Path: AP_RangeFinder_Wasp.cpp
AP_SUBGROUPVARPTR(drivers[9], "A_", 44, RangeFinder, backend_var_info[9]),
#endif
AP_GROUPEND
};
const AP_Param::GroupInfo *RangeFinder::backend_var_info[RANGEFINDER_MAX_INSTANCES];
RangeFinder::RangeFinder(AP_SerialManager &_serial_manager) :
serial_manager(_serial_manager)
{
AP_Param::setup_object_defaults(this, var_info);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("Rangefinder must be singleton");
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
_singleton = this;
}
void RangeFinder::convert_params(void) {
if (params[0].type.configured_in_storage()) {
// _params[0]._type will always be configured in storage after conversion is done the first time
return;
}
struct ConversionTable {
uint8_t old_element;
uint8_t new_index;
uint8_t instance;
};
const struct ConversionTable conversionTable[] = {
{0, 0, 0}, //0, TYPE 1
{1, 1, 0}, //1, PIN 1
{2, 2, 0}, //2, SCALING 1
{3, 3, 0}, //3, OFFSET 1
{4, 4, 0}, //4, FUNCTION 1
{5, 5, 0}, //5, MIN_CM 1
{6, 6, 0}, //6, MAX_CM 1
{7, 7, 0}, //7, STOP_PIN 1
{8, 8, 0}, //8, SETTLE 1
{9, 9, 0}, //9, RMETRIC 1
{10, 10, 0}, //10, PWRRNG 1 (previously existed only once for all sensors)
{11, 11, 0}, //11, GNDCLEAR 1
{23, 12, 0}, //23, ADDR 1
{49, 13, 0}, //49, POS 1
{53, 14, 0}, //53, ORIENT 1
//{57, 1, 0}, //57, backend 1
{12, 0, 1}, //12, TYPE 2
{13, 1, 1}, //13, PIN 2
{14, 2, 1}, //14, SCALING 2
{15, 3, 1}, //15, OFFSET 2
{16, 4, 1}, //16, FUNCTION 2
{17, 5, 1}, //17, MIN_CM 2
{18, 6, 1}, //18, MAX_CM 2
{19, 7, 1}, //19, STOP_PIN 2
{20, 8, 1}, //20, SETTLE 2
{21, 9, 1}, //21, RMETRIC 2
//{, 10, 1}, //PWRRNG 2 (previously existed only once for all sensors)
{22, 11, 1}, //22, GNDCLEAR 2
{24, 12, 1}, //24, ADDR 2
{50, 13, 1}, //50, POS 2
{54, 14, 1}, //54, ORIENT 2
//{58, 3, 1}, //58, backend 2
{25, 0, 2}, //25, TYPE 3
{26, 1, 2}, //26, PIN 3
{27, 2, 2}, //27, SCALING 3
{28, 3, 2}, //28, OFFSET 3
{29, 4, 2}, //29, FUNCTION 3
{30, 5, 2}, //30, MIN_CM 3
{31, 6, 2}, //31, MAX_CM 3
{32, 7, 2}, //32, STOP_PIN 3
{33, 8, 2}, //33, SETTLE 3
{34, 9, 2}, //34, RMETRIC 3
//{, 10, 2}, //PWRRNG 3 (previously existed only once for all sensors)
{35, 11, 2}, //35, GNDCLEAR 3
{36, 12, 2}, //36, ADDR 3
{51, 13, 2}, //51, POS 3
{55, 14, 2}, //55, ORIENT 3
//{59, 5, 2}, //59, backend 3
{37, 0, 3}, //37, TYPE 4
{38, 1, 3}, //38, PIN 4
{39, 2, 3}, //39, SCALING 4
{40, 3, 3}, //40, OFFSET 4
{41, 4, 3}, //41, FUNCTION 4
{42, 5, 3}, //42, MIN_CM 4
{43, 6, 3}, //43, MAX_CM 4
{44, 7, 3}, //44, STOP_PIN 4
{45, 8, 3}, //45, SETTLE 4
{46, 9, 3}, //46, RMETRIC 4
//{, 10, 3}, //PWRRNG 4 (previously existed only once for all sensors)
{47, 11, 3}, //47, GNDCLEAR 4
{48, 12, 3}, //48, ADDR 4
{52, 13, 3}, //52, POS 4
{56, 14, 3}, //56, ORIENT 4
//{60, 7, 3}, //60, backend 4
};
char param_name[17] = {0};
AP_Param::ConversionInfo info;
info.new_name = param_name;
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
info.old_key = 71;
#elif APM_BUILD_TYPE(APM_BUILD_ArduCopter)
info.old_key = 53;
#elif APM_BUILD_TYPE(APM_BUILD_ArduSub)
info.old_key = 35;
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
info.old_key = 197;
#else
params[0].type.save(true);
return; // no conversion is supported on this platform
#endif
for (uint8_t i = 0; i < ARRAY_SIZE(conversionTable); i++) {
uint8_t param_instance = conversionTable[i].instance + 1;
uint8_t destination_index = conversionTable[i].new_index;
info.old_group_element = conversionTable[i].old_element;
info.type = (ap_var_type)AP_RangeFinder_Params::var_info[destination_index].type;
hal.util->snprintf(param_name, sizeof(param_name), "RNGFND%X_%s", param_instance, AP_RangeFinder_Params::var_info[destination_index].name);
param_name[sizeof(param_name)-1] = '\0';
AP_Param::convert_old_parameter(&info, 1.0f, 0);
}
// force _params[0]._type into storage to flag that conversion has been done
params[0].type.save(true);
}
/*
initialise the RangeFinder class. We do detection of attached range
finders here. For now we won't allow for hot-plugging of
rangefinders.
*/
void RangeFinder::init(enum Rotation orientation_default)
{
if (num_instances != 0) {
// init called a 2nd time?
return;
}
convert_params();
// set orientation defaults
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
params[i].orientation.set_default(orientation_default);
}
for (uint8_t i=0, serial_instance = 0; i<RANGEFINDER_MAX_INSTANCES; i++) {
// serial_instance will be increased inside detect_instance
// if a serial driver is loaded for this instance
detect_instance(i, serial_instance);
if (drivers[i] != nullptr) {
// we loaded a driver for this instance, so it must be
// present (although it may not be healthy)
num_instances = i+1;
}
// initialise status
state[i].status = RangeFinder_NotConnected;
state[i].range_valid_count = 0;
}
}
/*
update RangeFinder state for all instances. This should be called at
around 10Hz by main loop
*/
void RangeFinder::update(void)
{
for (uint8_t i=0; i<num_instances; i++) {
if (drivers[i] != nullptr) {
if (params[i].type == RangeFinder_TYPE_NONE) {
// allow user to disable a rangefinder at runtime
state[i].status = RangeFinder_NotConnected;
state[i].range_valid_count = 0;
continue;
}
drivers[i]->update();
}
}
Log_RFND();
}
bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend)
{
if (!backend) {
return false;
}
if (num_instances == RANGEFINDER_MAX_INSTANCES) {
AP_HAL::panic("Too many RANGERS backends");
}
drivers[num_instances++] = backend;
return true;
}
/*
detect if an instance of a rangefinder is connected.
*/
void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
{
enum RangeFinder_Type _type = (enum RangeFinder_Type)params[instance].type.get();
switch (_type) {
case RangeFinder_TYPE_PLI2C:
case RangeFinder_TYPE_PLI2CV3:
case RangeFinder_TYPE_PLI2CV3HP:
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_PulsedLightLRF::detect(i, state[instance], params[instance], _type))) {
break;
}
}
break;
case RangeFinder_TYPE_MBI2C:
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)))) {
break;
}
}
break;
case RangeFinder_TYPE_LWI2C:
if (params[instance].address) {
#ifdef HAL_RANGEFINDER_LIGHTWARE_I2C_BUS
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, params[instance].address)));
#else
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)))) {
break;
}
}
#endif
}
break;
case RangeFinder_TYPE_TRI2C:
if (params[instance].address) {
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)))) {
break;
}
}
}
break;
case RangeFinder_TYPE_VL53L0X:
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)))) {
break;
}
if (_add_backend(AP_RangeFinder_VL53L1X::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)))) {
break;
}
}
break;
case RangeFinder_TYPE_BenewakeTFminiPlus:
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_Benewake_TFMiniPlus::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)))) {
break;
}
}
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
case RangeFinder_TYPE_PX4_PWM:
// to ease moving from PX4 to ChibiOS we'll lie a little about
// the backend driver...
if (AP_RangeFinder_PWM::detect()) {
drivers[instance] = new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height);
}
break;
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
case RangeFinder_TYPE_BBB_PRU:
if (AP_RangeFinder_BBB_PRU::detect()) {
drivers[instance] = new AP_RangeFinder_BBB_PRU(state[instance], params[instance]);
}
break;
#endif
case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_uLanding(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
case RangeFinder_TYPE_BEBOP:
if (AP_RangeFinder_Bebop::detect()) {
drivers[instance] = new AP_RangeFinder_Bebop(state[instance], params[instance]);
}
break;
#endif
case RangeFinder_TYPE_MAVLink:
if (AP_RangeFinder_MAVLink::detect()) {
drivers[instance] = new AP_RangeFinder_MAVLink(state[instance], params[instance]);
}
break;
case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_ANALOG:
// note that analog will always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(params[instance])) {
drivers[instance] = new AP_RangeFinder_analog(state[instance], params[instance]);
}
break;
case RangeFinder_TYPE_NMEA:
if (AP_RangeFinder_NMEA::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_NMEA(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_WASP:
if (AP_RangeFinder_Wasp::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_Wasp(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_BenewakeTF02:
if (AP_RangeFinder_Benewake::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_Benewake(state[instance], params[instance], serial_manager, serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TF02);
}
break;
case RangeFinder_TYPE_BenewakeTFmini:
if (AP_RangeFinder_Benewake::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_Benewake(state[instance], params[instance], serial_manager, serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TFmini);
}
break;
case RangeFinder_TYPE_PWM:
if (AP_RangeFinder_PWM::detect()) {
drivers[instance] = new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height);
}
break;
case RangeFinder_TYPE_BLPing:
if (AP_RangeFinder_BLPing::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_BLPing(state[instance], params[instance], serial_manager, serial_instance++);
}
break;
default:
break;
}
// if the backend has some local parameters then make those available in the tree
if (drivers[instance] && state[instance].var_info) {
backend_var_info[instance] = state[instance].var_info;
AP_Param::load_object_from_eeprom(drivers[instance], backend_var_info[instance]);
}
}
AP_RangeFinder_Backend *RangeFinder::get_backend(uint8_t id) const {
if (id >= num_instances) {
return nullptr;
}
if (drivers[id] != nullptr) {
if (drivers[id]->type() == RangeFinder_TYPE_NONE) {
// pretend it isn't here; disabled at runtime?
return nullptr;
}
}
return drivers[id];
};
RangeFinder::RangeFinder_Status RangeFinder::status_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return RangeFinder_NotConnected;
}
return backend->status();
}
void RangeFinder::handle_msg(mavlink_message_t *msg)
{
uint8_t i;
for (i=0; i<num_instances; i++) {
if ((drivers[i] != nullptr) && (params[i].type != RangeFinder_TYPE_NONE)) {
drivers[i]->handle_msg(msg);
}
}
}
// return true if we have a range finder with the specified orientation
bool RangeFinder::has_orientation(enum Rotation orientation) const
{
return (find_instance(orientation) != nullptr);
}
// find first range finder instance with the specified orientation
AP_RangeFinder_Backend *RangeFinder::find_instance(enum Rotation orientation) const
{
for (uint8_t i=0; i<num_instances; i++) {
AP_RangeFinder_Backend *backend = get_backend(i);
if (backend == nullptr) {
continue;
}
if (backend->orientation() != orientation) {
continue;
}
return backend;
}
return nullptr;
}
uint16_t RangeFinder::distance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->distance_cm();
}
uint16_t RangeFinder::voltage_mv_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->voltage_mv();
}
int16_t RangeFinder::max_distance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->max_distance_cm();
}
int16_t RangeFinder::min_distance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->min_distance_cm();
}
int16_t RangeFinder::ground_clearance_cm_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->ground_clearance_cm();
}
bool RangeFinder::has_data_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return false;
}
return backend->has_data();
}
uint8_t RangeFinder::range_valid_count_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->range_valid_count();
}
const Vector3f &RangeFinder::get_pos_offset_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return pos_offset_zero;
}
return backend->get_pos_offset();
}
uint32_t RangeFinder::last_reading_ms(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return 0;
}
return backend->last_reading_ms();
}
MAV_DISTANCE_SENSOR RangeFinder::get_mav_distance_sensor_type_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return MAV_DISTANCE_SENSOR_UNKNOWN;
}
return backend->get_mav_distance_sensor_type();
}
// Write an RFND (rangefinder) packet
void RangeFinder::Log_RFND()
{
if (_log_rfnd_bit == uint32_t(-1)) {
return;
}
AP_Logger &logger = AP::logger();
if (!logger.should_log(_log_rfnd_bit)) {
return;
}
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
const AP_RangeFinder_Backend *s = get_backend(i);
if (s == nullptr) {
continue;
}
const struct log_RFND pkt = {
LOG_PACKET_HEADER_INIT(LOG_RFND_MSG),
time_us : AP_HAL::micros64(),
instance : i,
dist : s->distance_cm(),
status : (uint8_t)s->status(),
orient : s->orientation(),
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
}
RangeFinder *RangeFinder::_singleton;
namespace AP {
RangeFinder *rangefinder()
{
return RangeFinder::get_singleton();
}
}
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