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RangeFinder: refactoring parameter management #8816

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RangeFinder: refactoring parameter management #8816

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882c828
RangeFinder: changed the way settings are handled so that up to 7 ran…
256shadesofgrey Jul 4, 2018
266146a
RangeFinder: Fixed errors related to bbbmini
256shadesofgrey Jul 6, 2018
20d2d01
RangeFinder: Removed commented-out code.
256shadesofgrey Jul 6, 2018
8cdcbe0
RangeFinder: another fix related to px4-v4pro
256shadesofgrey Jul 6, 2018
0f42a0e
RangeFinder: Removed the 3 bit limitation for the enumeration of rang…
256shadesofgrey Jul 20, 2018
fff3ed5
RangeFinder: Up to 10 range finders can now be used at once.
256shadesofgrey Jul 20, 2018
c45afd9
RangeFinder: Added parameter conversion function.
256shadesofgrey Aug 1, 2018
4872707
RangeFinder: fixed conversionTable[].
256shadesofgrey Aug 2, 2018
53256e9
RangeFinder: removed commented-out code
256shadesofgrey Aug 2, 2018
0bddeb6
RangeFinder: changed backend parameter indexes to old values to simpl…
256shadesofgrey Aug 3, 2018
f0a1551
RangeFinder: Resolved minor issues caused by changes made with the as…
256shadesofgrey Oct 2, 2018
2e98e49
RangeFinder: resolved conflicts caused by drivers for new sensors.
256shadesofgrey Jan 10, 2019
a076649
Autotest: renamed requested RangeFinder parameters to account for the…
256shadesofgrey Jan 14, 2019
79e2f56
RangeFinder: changed parameter indexes so that 0 isn't used.
256shadesofgrey Jan 22, 2019
b666d63
RangeFinder: fixed formatting and a typo.
256shadesofgrey Jan 24, 2019
0063679
RangeFinder: fixed an issue that caused the RNGFNDX_PWRRNG parameter …
256shadesofgrey Jan 24, 2019
a3f05e8
RangeFinder: fixed an issue with the conversion of long parameters.
256shadesofgrey Jan 29, 2019
0f5784f
RangeFinder: fixed an issue with the conversion of long parameters. H…
256shadesofgrey Jan 29, 2019
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60 changes: 30 additions & 30 deletions Tools/autotest/arducopter.py
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Expand Up @@ -389,11 +389,11 @@ def fly_loiter_to_alt(self):
self.fetch_parameters()
self.set_parameter("PLND_TYPE", 4)

self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)

self.reboot_sitl()

Expand Down Expand Up @@ -1030,11 +1030,11 @@ def fly_optical_flow_limits(self):
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_ENABLE", 1)

self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12, epsilon=0.01)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12, epsilon=0.01)

self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_TERRAIN", 0)
Expand Down Expand Up @@ -1461,11 +1461,11 @@ def test_rangefinder(self):
raise NotAchievedException("Received unexpected RANGEFINDER msg")

try:
self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)

Expand Down Expand Up @@ -1586,11 +1586,11 @@ def fly_precision_sitl(self):
self.fetch_parameters()
self.set_parameter("PLND_TYPE", 4)

self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)

self.reboot_sitl()

Expand Down Expand Up @@ -2038,11 +2038,11 @@ def fly_payload_place_mission(self):

ex = None
try:
self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)
self.set_parameter("GRIP_ENABLE", 1)
self.set_parameter("GRIP_TYPE", 1)
self.set_parameter("SIM_GRPS_ENABLE", 1)
Expand Down Expand Up @@ -2483,11 +2483,11 @@ def fly_precision_companion(self):
# enable companion backend:
self.set_parameter("PLND_TYPE", 1)

self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)

# set up a channel switch to enable precision loiter:
self.set_parameter("RC7_OPTION", 39)
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Proximity/AP_Proximity.h
View file
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Expand Up @@ -147,8 +147,8 @@ class AP_Proximity
Proximity_State state[PROXIMITY_MAX_INSTANCES];
AP_Proximity_Backend *drivers[PROXIMITY_MAX_INSTANCES];
const RangeFinder *_rangefinder;
uint8_t primary_instance:3;
uint8_t num_instances:3;
uint8_t primary_instance;
uint8_t num_instances;
AP_SerialManager &serial_manager;

// parameters for all instances
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
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Expand Up @@ -39,8 +39,8 @@ volatile struct range *rangerpru;
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_state)
AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
{
}

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
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Expand Up @@ -21,7 +21,7 @@ class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state);
AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);

// static detection function
static bool detect();
Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
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Expand Up @@ -49,10 +49,11 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_Benewake::AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance,
benewake_model_type model) :
AP_RangeFinder_Backend(_state),
AP_RangeFinder_Backend(_state, _params),
model_type(model)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
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Expand Up @@ -15,6 +15,7 @@ class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend

// constructor
AP_RangeFinder_Benewake(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance,
benewake_model_type model);
Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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Expand Up @@ -25,9 +25,10 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
AP_RangeFinder_Backend(_state, _params)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
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Expand Up @@ -43,6 +43,7 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance);

Expand Down
10 changes: 5 additions & 5 deletions libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
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Expand Up @@ -26,23 +26,23 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state)
AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state, _params)
, _dev(std::move(dev)) {}

/*
detect if a Lightware rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
*/
AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}

AP_RangeFinder_LightWareI2C *sensor
= new AP_RangeFinder_LightWareI2C(_state, std::move(dev));
= new AP_RangeFinder_LightWareI2C(_state, _params, std::move(dev));

if (!sensor) {
delete sensor;
Expand Down Expand Up @@ -76,7 +76,7 @@ bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
{
be16_t val;

if (state.address == 0) {
if (params.address == 0) {
return false;
}

Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
View file
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Expand Up @@ -10,6 +10,7 @@ class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend
public:
// static detection function
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

// update state
Expand All @@ -23,7 +24,7 @@ class AP_RangeFinder_LightWareI2C : public AP_RangeFinder_Backend

private:
// constructor
AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

void init();
void timer();
Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
View file
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Expand Up @@ -26,9 +26,10 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
AP_RangeFinder_Backend(_state, _params)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
View file
Open in desktop
Expand Up @@ -9,6 +9,7 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance);

Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
View file
Open in desktop
Expand Up @@ -25,8 +25,8 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_state)
AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
{
state.last_reading_ms = AP_HAL::millis();
distance_cm = 0;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
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Expand Up @@ -11,7 +11,7 @@ class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend

public:
// constructor
AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state);
AP_RangeFinder_MAVLink(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);

// static detection function
static bool detect();
Expand Down
6 changes: 4 additions & 2 deletions libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
View file
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Expand Up @@ -37,8 +37,9 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_state)
: AP_RangeFinder_Backend(_state, _params)
, _dev(std::move(dev))
{
}
Expand All @@ -49,14 +50,15 @@ AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFin
there.
*/
AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}

AP_RangeFinder_MaxsonarI2CXL *sensor
= new AP_RangeFinder_MaxsonarI2CXL(_state, std::move(dev));
= new AP_RangeFinder_MaxsonarI2CXL(_state, _params, std::move(dev));
if (!sensor) {
return nullptr;
}
Expand Down
2 changes: 2 additions & 0 deletions libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
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Expand Up @@ -12,6 +12,7 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
public:
// static detection function
static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

// update state
Expand All @@ -26,6 +27,7 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
private:
// constructor
AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

bool _init(void);
Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
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Expand Up @@ -30,9 +30,10 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
AP_RangeFinder_Backend(_state, _params)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
View file
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Expand Up @@ -9,6 +9,7 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance);

Expand Down
3 changes: 2 additions & 1 deletion libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
View file
Open in desktop
Expand Up @@ -25,9 +25,10 @@ extern const AP_HAL::HAL& hal;
// Note this is called after detect() returns true, so we
// already know that we should setup the rangefinder
AP_RangeFinder_NMEA::AP_RangeFinder_NMEA(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state),
AP_RangeFinder_Backend(_state, _params),
_distance_m(-1.0f)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
View file
Open in desktop
Expand Up @@ -24,6 +24,7 @@ class AP_RangeFinder_NMEA : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_NMEA(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
AP_SerialManager &serial_manager,
uint8_t serial_instance);

Expand Down