mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
135 lines
3.9 KiB
C++
135 lines
3.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend.h"
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extern const AP_HAL::HAL& hal;
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/*
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base class constructor.
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This incorporates initialisation as well.
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*/
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AP_RangeFinder_Backend::AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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state(_state),
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params(_params)
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{
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_backend_type = type();
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}
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MAV_DISTANCE_SENSOR AP_RangeFinder_Backend::get_mav_distance_sensor_type() const {
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if (type() == RangeFinder::Type::NONE) {
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return MAV_DISTANCE_SENSOR_UNKNOWN;
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}
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return _get_mav_distance_sensor_type();
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}
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RangeFinder::Status AP_RangeFinder_Backend::status() const {
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if (type() == RangeFinder::Type::NONE) {
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// turned off at runtime?
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return RangeFinder::Status::NotConnected;
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}
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return state.status;
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}
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// true if sensor is returning data
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bool AP_RangeFinder_Backend::has_data() const
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{
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switch (state.status) {
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case RangeFinder::Status::NotConnected:
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case RangeFinder::Status::NoData:
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case RangeFinder::Status::PoweredDown:
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break;
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case RangeFinder::Status::OutOfRangeLow:
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case RangeFinder::Status::OutOfRangeHigh:
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case RangeFinder::Status::Good:
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return true;
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}
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return false;
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}
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// update status based on distance measurement
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void AP_RangeFinder_Backend::update_status(RangeFinder::RangeFinder_State &state_arg) const
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{
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// check distance
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if (state_arg.distance_m > max_distance()) {
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set_status(state_arg, RangeFinder::Status::OutOfRangeHigh);
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} else if (state_arg.distance_m < min_distance()) {
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set_status(state_arg, RangeFinder::Status::OutOfRangeLow);
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} else {
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set_status(state_arg, RangeFinder::Status::Good);
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}
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}
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// set status and update valid count
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void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_State &state_arg, RangeFinder::Status _status)
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{
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state_arg.status = _status;
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// update valid count
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if (_status == RangeFinder::Status::Good) {
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if (state_arg.range_valid_count < 10) {
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state_arg.range_valid_count++;
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}
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} else {
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state_arg.range_valid_count = 0;
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}
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}
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// get temperature reading in C. returns true on success and populates temp argument
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// checks external temperature source first, then falls back to backend-specific reading
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bool AP_RangeFinder_Backend::get_temp(float &temp) const
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{
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#if AP_TEMPERATURE_SENSOR_ENABLED
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if (state.temperature_valid && (AP_HAL::millis() - state.temperature_update_ms < 5000U)) {
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temp = state.temperature_C;
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return true;
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}
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#endif
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return _get_temp(temp);
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}
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// return true if rangefinder should be powered down
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bool AP_RangeFinder_Backend::should_power_down() const
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{
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// Power saving range must be configured
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if (params.powersave_range <= 0) {
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return false;
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}
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// Must be above configured height
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RangeFinder &frontend = *AP::rangefinder();
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return frontend.estimated_terrain_height > params.powersave_range;
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}
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#if AP_SCRIPTING_ENABLED
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// get a copy of state structure
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void AP_RangeFinder_Backend::get_state(RangeFinder::RangeFinder_State &state_arg)
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{
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WITH_SEMAPHORE(_sem);
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state_arg = state;
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}
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#endif
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#endif // AP_RANGEFINDER_ENABLED
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