#include <RangeFinder.h>

Collaboration diagram for RangeFinder:

Classes
struct	RangeFinder_State

Public Types
enum	RangeFinder_Type { RangeFinder_TYPE_NONE = 0, RangeFinder_TYPE_ANALOG = 1, RangeFinder_TYPE_MBI2C = 2, RangeFinder_TYPE_PLI2C = 3, RangeFinder_TYPE_PX4 = 4, RangeFinder_TYPE_PX4_PWM = 5, RangeFinder_TYPE_BBB_PRU = 6, RangeFinder_TYPE_LWI2C = 7, RangeFinder_TYPE_LWSER = 8, RangeFinder_TYPE_BEBOP = 9, RangeFinder_TYPE_MAVLink = 10, RangeFinder_TYPE_ULANDING = 11, RangeFinder_TYPE_LEDDARONE = 12, RangeFinder_TYPE_MBSER = 13, RangeFinder_TYPE_TRI2C = 14, RangeFinder_TYPE_PLI2CV3 = 15, RangeFinder_TYPE_VL53L0X = 16, RangeFinder_TYPE_NMEA = 17, RangeFinder_TYPE_WASP = 18, RangeFinder_TYPE_BenewakeTF02 = 19, RangeFinder_TYPE_BenewakeTFmini = 20 }

enum	RangeFinder_Function { FUNCTION_LINEAR = 0, FUNCTION_INVERTED = 1, FUNCTION_HYPERBOLA = 2 }

enum	RangeFinder_Status { RangeFinder_NotConnected = 0, RangeFinder_NoData, RangeFinder_OutOfRangeLow, RangeFinder_OutOfRangeHigh, RangeFinder_Good }

Public Member Functions
	RangeFinder (AP_SerialManager &_serial_manager, enum Rotation orientation_default)

	RangeFinder (const RangeFinder &other)=delete

RangeFinder &	operator= (const RangeFinder &)=delete

uint8_t	num_sensors (void) const

void	init (void)

void	update (void)

void	handle_msg (mavlink_message_t *msg)

bool	has_orientation (enum Rotation orientation) const

AP_RangeFinder_Backend *	find_instance (enum Rotation orientation) const

AP_RangeFinder_Backend *	get_backend (uint8_t id) const

uint16_t	distance_cm_orient (enum Rotation orientation) const

uint16_t	voltage_mv_orient (enum Rotation orientation) const

int16_t	max_distance_cm_orient (enum Rotation orientation) const

int16_t	min_distance_cm_orient (enum Rotation orientation) const

int16_t	ground_clearance_cm_orient (enum Rotation orientation) const

MAV_DISTANCE_SENSOR	get_mav_distance_sensor_type_orient (enum Rotation orientation) const

RangeFinder_Status	status_orient (enum Rotation orientation) const

bool	has_data_orient (enum Rotation orientation) const

uint8_t	range_valid_count_orient (enum Rotation orientation) const

const Vector3f &	get_pos_offset_orient (enum Rotation orientation) const

void	set_estimated_terrain_height (float height)

bool	pre_arm_check () const

Static Public Member Functions
static RangeFinder *	get_singleton (void)

Public Attributes
AP_Int16	_powersave_range

Static Public Attributes
static const struct AP_Param::GroupInfo *	backend_var_info [RANGEFINDER_MAX_INSTANCES]

static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	detect_instance (uint8_t instance, uint8_t &serial_instance)

void	update_instance (uint8_t instance)

bool	_add_backend (AP_RangeFinder_Backend *driver)

Private Attributes
RangeFinder_State	state [RANGEFINDER_MAX_INSTANCES]

AP_RangeFinder_Backend *	drivers [RANGEFINDER_MAX_INSTANCES]

uint8_t	num_instances:3

float	estimated_terrain_height

AP_SerialManager &	serial_manager

Vector3f	pos_offset_zero

Static Private Attributes
static RangeFinder *	_singleton

Friends
class	AP_RangeFinder_Backend

Detailed Description

Definition at line 31 of file RangeFinder.h.

Member Enumeration Documentation

◆ RangeFinder_Function

enum RangeFinder::RangeFinder_Function

Enumerator
FUNCTION_LINEAR
FUNCTION_INVERTED
FUNCTION_HYPERBOLA

Definition at line 67 of file RangeFinder.h.

◆ RangeFinder_Status

enum RangeFinder::RangeFinder_Status

Enumerator
RangeFinder_NotConnected
RangeFinder_NoData
RangeFinder_OutOfRangeLow
RangeFinder_OutOfRangeHigh
RangeFinder_Good

Definition at line 73 of file RangeFinder.h.

◆ RangeFinder_Type

enum RangeFinder::RangeFinder_Type

Enumerator
RangeFinder_TYPE_NONE
RangeFinder_TYPE_ANALOG
RangeFinder_TYPE_MBI2C
RangeFinder_TYPE_PLI2C
RangeFinder_TYPE_PX4
RangeFinder_TYPE_PX4_PWM
RangeFinder_TYPE_BBB_PRU
RangeFinder_TYPE_LWI2C
RangeFinder_TYPE_LWSER
RangeFinder_TYPE_BEBOP
RangeFinder_TYPE_MAVLink
RangeFinder_TYPE_ULANDING
RangeFinder_TYPE_LEDDARONE
RangeFinder_TYPE_MBSER
RangeFinder_TYPE_TRI2C
RangeFinder_TYPE_PLI2CV3
RangeFinder_TYPE_VL53L0X
RangeFinder_TYPE_NMEA
RangeFinder_TYPE_WASP
RangeFinder_TYPE_BenewakeTF02
RangeFinder_TYPE_BenewakeTFmini

Definition at line 43 of file RangeFinder.h.

Constructor & Destructor Documentation

◆ RangeFinder() [1/2]

RangeFinder::RangeFinder	(	AP_SerialManager &	_serial_manager,
		enum Rotation	orientation_default
	)

Definition at line 553 of file RangeFinder.cpp.

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◆ RangeFinder() [2/2]

RangeFinder::RangeFinder ( const RangeFinder & other )

delete

Member Function Documentation

◆ _add_backend()

bool RangeFinder::_add_backend ( AP_RangeFinder_Backend * driver )

private

Definition at line 624 of file RangeFinder.cpp.

Referenced by detect_instance().

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◆ detect_instance()

void RangeFinder::detect_instance	(	uint8_t	instance,
		uint8_t &	serial_instance
	)

private

Definition at line 640 of file RangeFinder.cpp.

Referenced by init().

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◆ distance_cm_orient()

uint16_t RangeFinder::distance_cm_orient ( enum Rotation orientation ) const

Definition at line 825 of file RangeFinder.cpp.

Referenced by AP_Frsky_Telem::calc_attiandrng(), and num_sensors().

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◆ find_instance()

AP_RangeFinder_Backend * RangeFinder::find_instance ( enum Rotation orientation ) const

Definition at line 810 of file RangeFinder.cpp.

Referenced by distance_cm_orient(), get_mav_distance_sensor_type_orient(), get_pos_offset_orient(), ground_clearance_cm_orient(), has_data_orient(), has_orientation(), max_distance_cm_orient(), min_distance_cm_orient(), num_sensors(), range_valid_count_orient(), GCS_MAVLINK::send_rangefinder_downward(), status_orient(), and voltage_mv_orient().

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◆ get_backend()

AP_RangeFinder_Backend * RangeFinder::get_backend ( uint8_t id ) const

Definition at line 771 of file RangeFinder.cpp.

Referenced by find_instance(), DataFlash_Class::Log_Write_RFND(), loop(), num_sensors(), NavEKF2_core::readRangeFinder(), NavEKF3_core::readRangeFinder(), NavEKF2_core::selectHeightForFusion(), NavEKF3_core::selectHeightForFusion(), GCS_MAVLINK::send_distance_sensor(), and AP_Proximity_RangeFinder::update().

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◆ get_mav_distance_sensor_type_orient()

MAV_DISTANCE_SENSOR RangeFinder::get_mav_distance_sensor_type_orient ( enum Rotation orientation ) const

Definition at line 913 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ get_pos_offset_orient()

const Vector3f & RangeFinder::get_pos_offset_orient ( enum Rotation orientation ) const

Definition at line 904 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ get_singleton()

static RangeFinder* RangeFinder::get_singleton ( void )

inlinestatic

Definition at line 167 of file RangeFinder.h.

Referenced by GCS_MAVLINK::send_distance_sensor(), and GCS_MAVLINK::send_rangefinder_downward().

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◆ ground_clearance_cm_orient()

int16_t RangeFinder::ground_clearance_cm_orient ( enum Rotation orientation ) const

Definition at line 861 of file RangeFinder.cpp.

Referenced by num_sensors(), NavEKF2_core::readRangeFinder(), and NavEKF3_core::readRangeFinder().

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◆ handle_msg()

void RangeFinder::handle_msg ( mavlink_message_t * msg )

Definition at line 793 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ has_data_orient()

bool RangeFinder::has_data_orient ( enum Rotation orientation ) const

Definition at line 870 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ has_orientation()

bool RangeFinder::has_orientation ( enum Rotation orientation ) const

Definition at line 804 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ init()

void RangeFinder::init ( void )

Definition at line 578 of file RangeFinder.cpp.

Referenced by num_sensors(), and setup().

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◆ max_distance_cm_orient()

int16_t RangeFinder::max_distance_cm_orient ( enum Rotation orientation ) const

Definition at line 843 of file RangeFinder.cpp.

Referenced by NavEKF2_core::getHeightControlLimit(), NavEKF3_core::getHeightControlLimit(), num_sensors(), NavEKF2_core::selectHeightForFusion(), and NavEKF3_core::selectHeightForFusion().

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◆ min_distance_cm_orient()

int16_t RangeFinder::min_distance_cm_orient ( enum Rotation orientation ) const

Definition at line 852 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ num_sensors()

uint8_t RangeFinder::num_sensors ( void ) const

inline

Definition at line 117 of file RangeFinder.h.

Referenced by loop(), setup(), and AP_Proximity_RangeFinder::update().

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◆ operator=()

RangeFinder& RangeFinder::operator= ( const RangeFinder & )

delete

◆ pre_arm_check()

bool RangeFinder::pre_arm_check ( ) const

Definition at line 893 of file RangeFinder.cpp.

◆ range_valid_count_orient()

uint8_t RangeFinder::range_valid_count_orient ( enum Rotation orientation ) const

Definition at line 879 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ set_estimated_terrain_height()

void RangeFinder::set_estimated_terrain_height ( float height )

inline

Definition at line 156 of file RangeFinder.h.

◆ status_orient()

RangeFinder::RangeFinder_Status RangeFinder::status_orient ( enum Rotation orientation ) const

Definition at line 784 of file RangeFinder.cpp.

Referenced by num_sensors().

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◆ update()

void RangeFinder::update ( void )

Definition at line 608 of file RangeFinder.cpp.

Referenced by loop(), and num_sensors().

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◆ update_instance()

void RangeFinder::update_instance ( uint8_t instance )

private

◆ voltage_mv_orient()

uint16_t RangeFinder::voltage_mv_orient ( enum Rotation orientation ) const

Definition at line 834 of file RangeFinder.cpp.

Referenced by num_sensors().

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Friends And Related Function Documentation

◆ AP_RangeFinder_Backend

friend class AP_RangeFinder_Backend

friend

Definition at line 33 of file RangeFinder.h.

Member Data Documentation

◆ _powersave_range

AP_Int16 RangeFinder::_powersave_range

Definition at line 111 of file RangeFinder.h.

Referenced by detect_instance().

◆ _singleton

RangeFinder * RangeFinder::_singleton

staticprivate

Definition at line 171 of file RangeFinder.h.

Referenced by get_mav_distance_sensor_type_orient(), get_singleton(), and RangeFinder().

◆ backend_var_info

const AP_Param::GroupInfo * RangeFinder::backend_var_info

static

Definition at line 109 of file RangeFinder.h.

Referenced by detect_instance().

◆ drivers

AP_RangeFinder_Backend* RangeFinder::drivers[RANGEFINDER_MAX_INSTANCES]

private

Definition at line 174 of file RangeFinder.h.

Referenced by _add_backend(), detect_instance(), get_backend(), handle_msg(), init(), pre_arm_check(), and update().

◆ estimated_terrain_height

float RangeFinder::estimated_terrain_height

private

Definition at line 176 of file RangeFinder.h.

Referenced by detect_instance(), and set_estimated_terrain_height().

◆ num_instances

uint8_t RangeFinder::num_instances

private

Definition at line 175 of file RangeFinder.h.

Referenced by _add_backend(), find_instance(), get_backend(), handle_msg(), init(), num_sensors(), pre_arm_check(), and update().

◆ pos_offset_zero

Vector3f RangeFinder::pos_offset_zero

private

Definition at line 178 of file RangeFinder.h.

Referenced by get_pos_offset_orient().

◆ serial_manager

AP_SerialManager& RangeFinder::serial_manager

private

Definition at line 177 of file RangeFinder.h.

Referenced by detect_instance().

◆ state

RangeFinder_State RangeFinder::state[RANGEFINDER_MAX_INSTANCES]

private

Definition at line 173 of file RangeFinder.h.

Referenced by detect_instance(), handle_msg(), init(), pre_arm_check(), RangeFinder(), and update().

◆ var_info

const AP_Param::GroupInfo RangeFinder::var_info

static

Definition at line 114 of file RangeFinder.h.

Referenced by detect_instance(), RangeFinder(), and setup().

The documentation for this class was generated from the following files:

libraries/AP_RangeFinder/RangeFinder.h
libraries/AP_RangeFinder/RangeFinder.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ RangeFinder_Function

◆ RangeFinder_Status

◆ RangeFinder_Type

Constructor & Destructor Documentation

◆ RangeFinder() [1/2]

◆ RangeFinder() [2/2]

Member Function Documentation

◆ _add_backend()

◆ detect_instance()

◆ distance_cm_orient()

◆ find_instance()

◆ get_backend()

◆ get_mav_distance_sensor_type_orient()

◆ get_pos_offset_orient()

◆ get_singleton()

◆ ground_clearance_cm_orient()

◆ handle_msg()

◆ has_data_orient()

◆ has_orientation()

◆ init()

◆ max_distance_cm_orient()

◆ min_distance_cm_orient()

◆ num_sensors()

◆ operator=()

◆ pre_arm_check()

◆ range_valid_count_orient()

◆ set_estimated_terrain_height()

◆ status_orient()

◆ update()

◆ update_instance()

◆ voltage_mv_orient()

Friends And Related Function Documentation

◆ AP_RangeFinder_Backend

Member Data Documentation

◆ _powersave_range

◆ _singleton

◆ backend_var_info

◆ drivers

◆ estimated_terrain_height

◆ num_instances

◆ pos_offset_zero

◆ serial_manager

◆ state

◆ var_info