aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_RangeFinder: added SONAR_RMETRIC option

Browse Source 
this allows correct support for non-ratiometric rangefinders such as
the SF/02
This commit is contained in:
Andrew Tridgell 2014-06-27 13:04:25 +10:00
parent 92b76b4be4
commit 6f33ca4988
3 changed files with 19 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
View File

@ -72,7 +72,11 @@ void AP_RangeFinder_analog::update_voltage(void)
source->set_pin(ranger._pin[state.instance]);
source->set_stop_pin((uint8_t)ranger._stop_pin[state.instance]);
source->set_settle_time((uint16_t)ranger._settle_time_ms[state.instance]);
state.voltage_mv = source->voltage_average_ratiometric() * 1000U;
if (ranger._ratiometric[state.instance]) {
state.voltage_mv = source->voltage_average_ratiometric() * 1000U;
} else {
state.voltage_mv = source->voltage_average() * 1000U;
}
}
/*

14
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -76,7 +76,13 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Increment: 1
AP_GROUPINFO("_SETTLE_MS", 8, RangeFinder, _settle_time_ms[0], 0),
// 9..12 left for future expansion
// @Param: _RMETRIC
// @DisplayName: Ratiometric
// @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog sonars are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric
// @Values: 0:No,1:Yes
AP_GROUPINFO("_RMETRIC", 9, RangeFinder, _ratiometric[0], 1),
// 10..12 left for future expansion
#if RANGEFINDER_MAX_INSTANCES > 1
// @Param: 2_PIN
@ -129,6 +135,12 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Units: milliseconds
// @Increment: 1
AP_GROUPINFO("2_SETTLE_MS", 20, RangeFinder, _settle_time_ms[1], 0),
// @Param: 2_RMETRIC
// @DisplayName: Ratiometric
// @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog sonars are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric
// @Values: 0:No,1:Yes
AP_GROUPINFO("2_RMETRIC", 21, RangeFinder, _ratiometric[1], 1),
#endif
AP_GROUPEND

1
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -68,6 +68,7 @@ public:
// parameters for each instance
AP_Int8 _type[RANGEFINDER_MAX_INSTANCES];
AP_Int8 _pin[RANGEFINDER_MAX_INSTANCES];
AP_Int8 _ratiometric[RANGEFINDER_MAX_INSTANCES];
AP_Int8 _stop_pin[RANGEFINDER_MAX_INSTANCES];
AP_Int16 _settle_time_ms[RANGEFINDER_MAX_INSTANCES];
AP_Float _scaling[RANGEFINDER_MAX_INSTANCES];