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AP_Proximity: simplify get_horizontal_distances

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no need to fill in missing orientations.  This is only used for reporting to the ground stations
This commit is contained in:
Randy Mackay 2020-10-01 16:10:59 +09:00 committed by Andrew Tridgell
parent e081d83185
commit 4381eff482
1 changed files with 7 additions and 38 deletions
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45
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -78,51 +78,20 @@ bool AP_Proximity_Backend::get_object_angle_and_distance(uint8_t object_number,
// get distances in PROXIMITY_MAX_DIRECTION directions. used for sending distances to ground station
bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
{
// exit immediately if we have no good ranges
// cycle through all sectors filling in distances and orientations
// see MAV_SENSOR_ORIENTATION for orientations (0 = forward, 1 = 45 degree clockwise from north, etc)
bool valid_distances = false;
for (uint8_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
if (_distance_valid[i]) {
valid_distances = true;
break;
}
}
if (!valid_distances) {
return false;
}
// initialise orientations and directions
// see MAV_SENSOR_ORIENTATION for orientations (0 = forward, 1 = 45 degree clockwise from north, etc)
// distances initialised to maximum distances
bool dist_set[PROXIMITY_MAX_DIRECTION]{};
for (uint8_t i=0; i<PROXIMITY_MAX_DIRECTION; i++) {
prx_dist_array.orientation[i] = i;
prx_dist_array.distance[i] = distance_max();
}
// cycle through all sectors filling in distances
for (uint8_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
if (_distance_valid[i]) {
// convert angle to orientation
int16_t orientation = static_cast<int16_t>((_angle[i]+PROXIMITY_SECTOR_WIDTH_DEG*0.5) * (PROXIMITY_MAX_DIRECTION / 360.0f));
orientation %= PROXIMITY_MAX_DIRECTION;
if ((orientation >= 0) && (orientation < PROXIMITY_MAX_DIRECTION) && (_distance[i] < prx_dist_array.distance[orientation])) {
prx_dist_array.distance[orientation] = _distance[i];
dist_set[orientation] = true;
}
valid_distances = true;
prx_dist_array.distance[i] = _distance[i];
} else {
prx_dist_array.distance[i] = distance_max();
}
}
// fill in missing orientations with average of adjacent orientations if necessary and possible
for (uint8_t i=0; i<PROXIMITY_MAX_DIRECTION; i++) {
if (!dist_set[i]) {
uint8_t orient_before = (i==0) ? (PROXIMITY_MAX_DIRECTION - 1) : (i-1);
uint8_t orient_after = (i==(PROXIMITY_MAX_DIRECTION - 1)) ? 0 : (i+1);
if (dist_set[orient_before] && dist_set[orient_after]) {
prx_dist_array.distance[i] = (prx_dist_array.distance[orient_before] + prx_dist_array.distance[orient_after]) / 2.0f;
}
}
}
return true;
return valid_distances;
}
// get boundary points around vehicle for use by avoidance