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AP_RangeFinder - cut over to use new ModeFilter from Filter library

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This commit is contained in:
rmackay9 2012-02-26 15:34:50 +09:00
parent ae8fd43335
commit 00a1b5cd53
7 changed files with 17 additions and 9 deletions
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2
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
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@ -35,7 +35,7 @@
// Constructor ////////////////////////////////////////////////////////////// // Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter): AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter):
RangeFinder(source, filter), RangeFinder(source, filter),
_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER) _scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
{ {

2
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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@ -24,7 +24,7 @@
class AP_RangeFinder_MaxsonarXL : public RangeFinder class AP_RangeFinder_MaxsonarXL : public RangeFinder
{ {
public: public:
AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, ModeFilter *filter); AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter);
int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; } // read value from analog port and return distance in cm int convert_raw_to_distance(int _raw_value) { return _raw_value * _scaler; } // read value from analog port and return distance in cm
float calculate_scaler(int sonar_type, float adc_refence_voltage); float calculate_scaler(int sonar_type, float adc_refence_voltage);

2
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.cpp
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@ -35,7 +35,7 @@
// Constructor ////////////////////////////////////////////////////////////// // Constructor //////////////////////////////////////////////////////////////
AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter) : AP_RangeFinder_SharpGP2Y::AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, FilterInt16 *filter) :
RangeFinder(source, filter) RangeFinder(source, filter)
{ {
max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE; max_distance = AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE;

2
libraries/AP_RangeFinder/AP_RangeFinder_SharpGP2Y.h
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@ -9,7 +9,7 @@
class AP_RangeFinder_SharpGP2Y : public RangeFinder class AP_RangeFinder_SharpGP2Y : public RangeFinder
{ {
public: public:
AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, ModeFilter *filter); AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, FilterInt16 *filter);
int convert_raw_to_distance(int _raw_value) { int convert_raw_to_distance(int _raw_value) {
if( _raw_value == 0 ) if( _raw_value == 0 )
return max_distance; return max_distance;

2
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -43,7 +43,7 @@ int RangeFinder::read()
// ensure distance is within min and max // ensure distance is within min and max
temp_dist = constrain(temp_dist, min_distance, max_distance); temp_dist = constrain(temp_dist, min_distance, max_distance);
distance = _mode_filter->get_filtered_with_sample(temp_dist); distance = _mode_filter->apply(temp_dist);
return distance; return distance;
} }

6
libraries/AP_RangeFinder/RangeFinder.h
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@ -4,7 +4,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <inttypes.h> #include <inttypes.h>
#include "../AP_AnalogSource/AP_AnalogSource.h" #include "../AP_AnalogSource/AP_AnalogSource.h"
#include "../ModeFilter/ModeFilter.h" // ArduPilot Mega RC Library #include "../Filter/Filter.h" // Filter library
/* /*
#define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0 #define AP_RANGEFINDER_ORIENTATION_FRONT 0, 10, 0
@ -22,7 +22,7 @@
class RangeFinder class RangeFinder
{ {
protected: protected:
RangeFinder(AP_AnalogSource * source, ModeFilter *filter) : RangeFinder(AP_AnalogSource * source, FilterInt16 *filter) :
_analog_source(source), _analog_source(source),
_mode_filter(filter) {} _mode_filter(filter) {}
public: public:
@ -38,6 +38,6 @@ class RangeFinder
virtual int read(); // read value from sensor and return distance in cm virtual int read(); // read value from sensor and return distance in cm
AP_AnalogSource *_analog_source; AP_AnalogSource *_analog_source;
ModeFilter *_mode_filter; FilterInt16 *_mode_filter;
}; };
#endif #endif

10
libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
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@ -4,6 +4,9 @@
*/ */
// includes // includes
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
#include <Arduino_Mega_ISR_Registry.h> #include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h> #include <AP_PeriodicProcess.h>
@ -11,6 +14,11 @@
#include <AP_AnalogSource.h> #include <AP_AnalogSource.h>
#include <ModeFilter.h> // mode filter #include <ModeFilter.h> // mode filter
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
FastSerialPort0(Serial); // FTDI/console
// comment out line below if using APM2 or analog pin instead of APM1's built in ADC // comment out line below if using APM2 or analog pin instead of APM1's built in ADC
#define USE_ADC_ADS7844 // use APM1's built in ADC and connect sonar to pitot tube #define USE_ADC_ADS7844 // use APM1's built in ADC and connect sonar to pitot tube
@ -24,7 +32,7 @@
// declare global instances // declare global instances
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
ModeFilter mode_filter; ModeFilterInt16 mode_filter(5,2);
#ifdef USE_ADC_ADS7844 #ifdef USE_ADC_ADS7844
AP_TimerProcess adc_scheduler; AP_TimerProcess adc_scheduler;
AP_ADC_ADS7844 adc; AP_ADC_ADS7844 adc;