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AP_Proximity: Remove Morse backend

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Rishabh 2020-10-20 00:24:16 +05:30 committed by Peter Barker
parent 0e50023593
commit c1d67705ce
4 changed files with 2 additions and 129 deletions
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10
libraries/AP_Proximity/AP_Proximity.cpp
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@ -23,7 +23,6 @@
#include "AP_Proximity_LightWareSF40C.h"
#include "AP_Proximity_LightWareSF45B.h"
#include "AP_Proximity_SITL.h"
#include "AP_Proximity_MorseSITL.h"
#include "AP_Proximity_AirSimSITL.h"
extern const AP_HAL::HAL &hal;
@ -35,7 +34,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
// @Param: _TYPE
// @DisplayName: Proximity type
// @Description: What type of proximity sensor is connected
// @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,11:MorseSITL,12:AirSimSITL
// @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL
// @RebootRequired: True
// @User: Standard
AP_GROUPINFO("_TYPE", 1, AP_Proximity, _type[0], 0),
@ -155,7 +154,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
// @Param: 2_TYPE
// @DisplayName: Second Proximity type
// @Description: What type of proximity sensor is connected
// @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,11:MorseSITL,12:AirSimSITL
// @Values: 0:None,7:LightwareSF40c,1:LightWareSF40C-legacy,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("2_TYPE", 16, AP_Proximity, _type[1], 0),
@ -342,11 +341,6 @@ void AP_Proximity::detect_instance(uint8_t instance)
drivers[instance] = new AP_Proximity_SITL(*this, state[instance]);
return;
case Type::MorseSITL:
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_MorseSITL(*this, state[instance]);
return;
case Type::AirSimSITL:
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_AirSimSITL(*this, state[instance]);

1
libraries/AP_Proximity/AP_Proximity.h
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@ -50,7 +50,6 @@ public:
SF45B = 8,
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL = 10,
MorseSITL = 11,
AirSimSITL = 12,
#endif
};

90
libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp
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@ -1,90 +0,0 @@
/*
This program 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 program 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 <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_Proximity_MorseSITL.h"
#include <stdio.h>
extern const AP_HAL::HAL& hal;
#define PROXIMITY_MAX_RANGE 200.0f
#define PROXIMITY_ACCURACY 0.1f
// update the state of the sensor
void AP_Proximity_MorseSITL::update(void)
{
SITL::vector3f_array &points = sitl->state.scanner.points;
SITL::float_array &ranges = sitl->state.scanner.ranges;
if (points.length != ranges.length ||
points.length == 0) {
set_status(AP_Proximity::Status::NoData);
return;
}
set_status(AP_Proximity::Status::Good);
memset(_distance_valid, 0, sizeof(_distance_valid));
memset(_angle, 0, sizeof(_angle));
memset(_distance, 0, sizeof(_distance));
for (uint16_t i=0; i<points.length; i++) {
Vector3f &point = points.data[i];
float &range = ranges.data[i];
distance_maximum = MAX(distance_maximum, range);
if (point.is_zero()) {
continue;
}
float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x)));
uint16_t angle_rounded = uint16_t(angle_deg+0.5);
const uint8_t sector = convert_angle_to_sector(angle_rounded);
if (!_distance_valid[sector] || range < _distance[sector]) {
_distance_valid[sector] = true;
_distance[sector] = range;
_angle[sector] = angle_deg;
update_boundary_for_sector(sector, true);
}
}
#if 0
printf("npoints=%u\n", points.length);
for (uint16_t i=0; i<PROXIMITY_NUM_SECTORS; i++) {
printf("sector[%u] ang=%.1f dist=%.1f\n", i, _angle[i], _distance[i]);
}
#endif
}
// get maximum and minimum distances (in meters) of primary sensor
float AP_Proximity_MorseSITL::distance_max() const
{
// we don't have a data field from Morse for max range, so we use the max
// we've ever seen
return distance_maximum;
}
float AP_Proximity_MorseSITL::distance_min() const
{
return 0.0f;
}
// get distance upwards in meters. returns true on success
bool AP_Proximity_MorseSITL::get_upward_distance(float &distance) const
{
// we don't have an upward facing laser
return false;
}
#endif // CONFIG_HAL_BOARD

30
libraries/AP_Proximity/AP_Proximity_MorseSITL.h
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@ -1,30 +0,0 @@
#pragma once
#include "AP_Proximity.h"
#include "AP_Proximity_Backend.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
class AP_Proximity_MorseSITL : public AP_Proximity_Backend
{
public:
// constructor
using AP_Proximity_Backend::AP_Proximity_Backend;
// update state
void update(void) override;
// get maximum and minimum distances (in meters) of sensor
float distance_max() const override;
float distance_min() const override;
// get distance upwards in meters. returns true on success
bool get_upward_distance(float &distance) const override;
private:
SITL::SITL *sitl = AP::sitl();
float distance_maximum;
};
#endif // CONFIG_HAL_BOARD