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93 lines
3.4 KiB
C++
93 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PX4Rangefinder.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation)
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{
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set_device_id(device_id);
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set_orientation(device_orientation);
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set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); // Default to type LASER
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}
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PX4Rangefinder::~PX4Rangefinder()
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{
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_distance_sensor_pub.unadvertise();
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}
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void PX4Rangefinder::set_device_type(uint8_t device_type)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _distance_sensor_pub.get().device_id;
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// update to new device type
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device_id.devid_s.devtype = device_type;
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// copy back to report
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_distance_sensor_pub.get().device_id = device_id.devid;
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}
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void PX4Rangefinder::set_orientation(const uint8_t device_orientation)
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{
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_distance_sensor_pub.get().orientation = device_orientation;
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}
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void PX4Rangefinder::set_orientation(const float quant[4]){
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_distance_sensor_pub.get().orientation = distance_sensor_s::ROTATION_CUSTOM;
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_distance_sensor_pub.get().q[0] = quant[0];
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_distance_sensor_pub.get().q[1] = quant[1];
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_distance_sensor_pub.get().q[2] = quant[2];
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_distance_sensor_pub.get().q[3] = quant[3];
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}
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void PX4Rangefinder::update(const hrt_abstime ×tamp_sample, const float distance, const int8_t quality)
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{
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distance_sensor_s &report = _distance_sensor_pub.get();
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report.timestamp = timestamp_sample;
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report.current_distance = distance;
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report.signal_quality = quality;
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// if quality is unavailable (-1) set to 0 if distance is outside bounds
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if (quality < 0) {
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if ((distance < report.min_distance) || (distance > report.max_distance)) {
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report.signal_quality = 0;
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}
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}
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_distance_sensor_pub.update();
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}
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