diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
new file mode 100644
index 0000000000..330daffede
--- /dev/null
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
@@ -0,0 +1,111 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+ * Copyright (C) 2016 Intel Corporation. All rights reserved.
+ *
+ * This file 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 file 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 .
+ */
+
+#include
+#include "AP_RangeFinder_MaxsonarSerialLV.h"
+#include
+#include
+
+#define MAXSONAR_SERIAL_LV_BAUD_RATE 9600
+
+extern const AP_HAL::HAL& hal;
+
+/*
+ The constructor also initialises the rangefinder. Note that this
+ constructor is not called until detect() returns true, so we
+ already know that we should setup the rangefinder
+*/
+AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder &_ranger, uint8_t instance,
+ RangeFinder::RangeFinder_State &_state,
+ AP_SerialManager &serial_manager) :
+ AP_RangeFinder_Backend(_ranger, instance, _state)
+{
+ uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
+ if (uart != nullptr) {
+ uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
+ }
+}
+
+/*
+ detect if a MaxSonar rangefinder is connected. We'll detect by
+ trying to take a reading on Serial. If we get a result the sensor is
+ there.
+*/
+bool AP_RangeFinder_MaxsonarSerialLV::detect(RangeFinder &_ranger, uint8_t instance, AP_SerialManager &serial_manager)
+{
+ return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
+}
+
+// read - return last value measured by sensor
+bool AP_RangeFinder_MaxsonarSerialLV::get_reading(uint16_t &reading_cm)
+{
+ if (uart == nullptr) {
+ return false;
+ }
+
+ int32_t sum = 0;
+ int16_t nbytes = uart->available();
+ uint16_t count = 0;
+
+ /* MaxSonarSeriaLV might need a manual reconection */
+ if (nbytes == 0) {
+ uart->end();
+ uart->begin(MAXSONAR_SERIAL_LV_BAUD_RATE);
+ nbytes = uart->available();
+ }
+
+ while (nbytes-- > 0) {
+ char c = uart->read();
+ if (c == '\r') {
+ linebuf[linebuf_len] = 0;
+ sum += (int)atoi(linebuf);
+ count++;
+ linebuf_len = 0;
+ } else if (isdigit(c)) {
+ linebuf[linebuf_len++] = c;
+ if (linebuf_len == sizeof(linebuf)) {
+ // too long, discard the line
+ linebuf_len = 0;
+ }
+ }
+ }
+
+
+ if (count == 0) {
+ return false;
+ }
+
+ // This sonar gives the metrics in inches, so we have to transform this to centimeters
+ reading_cm = 2.54 * sum / count;
+
+ return true;
+}
+
+/*
+ update the state of the sensor
+*/
+void AP_RangeFinder_MaxsonarSerialLV::update(void)
+{
+ if (get_reading(state.distance_cm)) {
+ // update range_valid state based on distance measured
+ last_reading_ms = AP_HAL::millis();
+ update_status();
+ } else if (AP_HAL::millis() - last_reading_ms > 500) {
+ set_status(RangeFinder::RangeFinder_NoData);
+ }
+}
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
new file mode 100644
index 0000000000..76c9cf9df9
--- /dev/null
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
@@ -0,0 +1,29 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+#pragma once
+
+#include "RangeFinder.h"
+#include "RangeFinder_Backend.h"
+
+class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
+{
+
+public:
+ // constructor
+ AP_RangeFinder_MaxsonarSerialLV(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
+ AP_SerialManager &serial_manager);
+
+ // static detection function
+ static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
+
+ // update state
+ void update(void);
+
+private:
+ // get a reading
+ bool get_reading(uint16_t &reading_cm);
+
+ AP_HAL::UARTDriver *uart = nullptr;
+ uint32_t last_reading_ms = 0;
+ char linebuf[10];
+ uint8_t linebuf_len = 0;
+};
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 9d5362d531..0f4435975a 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -17,6 +17,7 @@
#include "AP_RangeFinder_analog.h"
#include "AP_RangeFinder_PulsedLightLRF.h"
#include "AP_RangeFinder_MaxsonarI2CXL.h"
+#include "AP_RangeFinder_MaxsonarSerialLV.h"
#include "AP_RangeFinder_PX4.h"
#include "AP_RangeFinder_PX4_PWM.h"
#include "AP_RangeFinder_BBB_PRU.h"
@@ -35,7 +36,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: _TYPE
// @DisplayName: Rangefinder type
// @Description: What type of rangefinder device that is connected
- // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne
+ // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne,13:MaxbotixSerial
// @User: Standard
AP_GROUPINFO("_TYPE", 0, RangeFinder, _type[0], 0),
@@ -155,7 +156,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 2_TYPE
// @DisplayName: Second Rangefinder type
// @Description: What type of rangefinder device that is connected
- // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne
+ // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne,13:MaxbotixSerial
// @User: Advanced
AP_GROUPINFO("2_TYPE", 12, RangeFinder, _type[1], 0),
@@ -270,7 +271,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 3_TYPE
// @DisplayName: Third Rangefinder type
// @Description: What type of rangefinder device that is connected
- // @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne
+ // @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne,13:MaxbotixSerial
// @User: Advanced
AP_GROUPINFO("3_TYPE", 25, RangeFinder, _type[2], 0),
@@ -385,7 +386,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] = {
// @Param: 4_TYPE
// @DisplayName: Fourth Rangefinder type
// @Description: What type of rangefinder device that is connected
- // @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne
+ // @Values: 0:None,1:Analog,2:APM2-MaxbotixI2C,3:APM2-PulsedLightI2C,4:PX4-I2C,5:PX4-PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,12:LeddarOne,13:MaxbotixSerial
// @User: Advanced
AP_GROUPINFO("4_TYPE", 37, RangeFinder, _type[3], 0),
@@ -662,6 +663,13 @@ void RangeFinder::detect_instance(uint8_t instance)
return;
}
}
+ if (type == RangeFinder_TYPE_MBSER) {
+ if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) {
+ state[instance].instance = instance;
+ drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager);
+ return;
+ }
+ }
if (type == RangeFinder_TYPE_ANALOG) {
// note that analog must be the last to be checked, as it will
// always come back as present if the pin is valid
diff --git a/libraries/AP_RangeFinder/RangeFinder.h b/libraries/AP_RangeFinder/RangeFinder.h
index e00fcb57d8..f13eb1bbd3 100644
--- a/libraries/AP_RangeFinder/RangeFinder.h
+++ b/libraries/AP_RangeFinder/RangeFinder.h
@@ -49,7 +49,8 @@ public:
RangeFinder_TYPE_BEBOP = 9,
RangeFinder_TYPE_MAVLink = 10,
RangeFinder_TYPE_ULANDING= 11,
- RangeFinder_TYPE_LEDDARONE = 12
+ RangeFinder_TYPE_LEDDARONE = 12,
+ RangeFinder_TYPE_MBSER = 13
};
enum RangeFinder_Function {