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Rover: use new sonar enabled flag in object

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This commit is contained in:
Andrew Tridgell 2013-03-22 07:53:16 +11:00
parent 91bbf914f7
commit 065cac76c0
4 changed files with 3 additions and 11 deletions
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2
APMrover2/APMrover2.pde
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@ -624,7 +624,7 @@ static void fast_loop()
// Read Sonar // Read Sonar
// ---------- // ----------
if (g.sonar_enabled) { if (sonar.enabled()) {
float sonar_dist_cm = sonar.distance_cm(); float sonar_dist_cm = sonar.distance_cm();
if (sonar_dist_cm <= g.sonar_trigger_cm) { if (sonar_dist_cm <= g.sonar_trigger_cm) {
// obstacle detected in front // obstacle detected in front

3
APMrover2/Parameters.h
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@ -99,7 +99,7 @@ public:
k_param_fs_gcs_enabled, k_param_fs_gcs_enabled,
// obstacle control // obstacle control
k_param_sonar_enabled = 190, k_param_sonar_enabled = 190, // deprecated, can be removed
k_param_sonar, // sonar object k_param_sonar, // sonar object
k_param_sonar_trigger_cm, k_param_sonar_trigger_cm,
k_param_sonar_turn_angle, k_param_sonar_turn_angle,
@ -205,7 +205,6 @@ public:
AP_Int8 fs_gcs_enabled; AP_Int8 fs_gcs_enabled;
// obstacle control // obstacle control
AP_Int8 sonar_enabled;
AP_Int16 sonar_trigger_cm; AP_Int16 sonar_trigger_cm;
AP_Float sonar_turn_angle; AP_Float sonar_turn_angle;
AP_Float sonar_turn_time; AP_Float sonar_turn_time;

7
APMrover2/Parameters.pde
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@ -256,13 +256,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE", 0), GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE", 0),
// @Param: SONAR_ENABLE
// @DisplayName: Enable Sonar
// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
// @Values: 0:Disabled,1:Enabled
// @User: Standard
GSCALAR(sonar_enabled, "SONAR_ENABLE", SONAR_ENABLED),
// @Param: SONAR_TRIGGER_CM // @Param: SONAR_TRIGGER_CM
// @DisplayName: Sonar trigger distance // @DisplayName: Sonar trigger distance
// @Description: The distance from an obstacle at which the sonar triggers a turn to avoid the obstacle // @Description: The distance from an obstacle at which the sonar triggers a turn to avoid the obstacle

2
APMrover2/test.pde
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@ -550,7 +550,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
test_sonar(uint8_t argc, const Menu::arg *argv) test_sonar(uint8_t argc, const Menu::arg *argv)
{ {
if (!g.sonar_enabled) { if (!sonar.enabled()) {
cliSerial->println_P(PSTR("WARNING: Sonar is not enabled")); cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
} }