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mavlink: make range params optional

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If there is no range sensor compiled in, these two params do not seem to
be available. Hence, we need to make them optional.
This commit is contained in:
Julian Oes
2022-01-10 23:04:10 -05:00
committed by Daniel Agar
parent 0ffdccbd60
commit 22180a2639
2 changed files with 17 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+12 -2
View File
@@ -94,6 +94,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_handle_sens_flow_maxr = param_find("SENS_FLOW_MAXR");
_handle_sens_flow_minhgt = param_find("SENS_FLOW_MINHGT");
_handle_sens_flow_rot = param_find("SENS_FLOW_ROT");
_handle_ekf2_min_rng = param_find("EKF2_MIN_RNG");
_handle_ekf2_rng_a_hmax = param_find("EKF2_RNG_A_HMAX");
}
void
@@ -829,8 +831,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
device_id.devid_s.address = msg->sysid;
d.timestamp = f.timestamp;
d.min_distance = _param_ekf2_min_rng.get();
d.max_distance = _param_ekf2_rng_a_hmax.get();
d.min_distance = _param_ekf2_min_rng;
d.max_distance = _param_ekf2_rng_a_hmax;
d.current_distance = flow.distance; /* both are in m */
d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
d.device_id = device_id.devid;
@@ -3448,6 +3450,14 @@ MavlinkReceiver::updateParams()
if (_handle_sens_flow_rot != PARAM_INVALID) {
param_get(_handle_sens_flow_rot, &_param_sens_flow_rot);
}
if (_handle_ekf2_min_rng != PARAM_INVALID) {
param_get(_handle_ekf2_min_rng, &_param_ekf2_min_rng);
}
if (_handle_ekf2_rng_a_hmax != PARAM_INVALID) {
param_get(_handle_ekf2_rng_a_hmax, &_param_ekf2_rng_a_hmax);
}
}
void *MavlinkReceiver::start_trampoline(void *context)
src/modules/mavlink/mavlink_receiver.h
+5 -3
View File
@@ -394,18 +394,20 @@ private:
param_t _handle_sens_flow_maxr{PARAM_INVALID};
param_t _handle_sens_flow_minhgt{PARAM_INVALID};
param_t _handle_sens_flow_rot{PARAM_INVALID};
param_t _handle_ekf2_min_rng{PARAM_INVALID};
param_t _handle_ekf2_rng_a_hmax{PARAM_INVALID};
float _param_sens_flow_maxhgt{-1.0f};
float _param_sens_flow_maxr{-1.0f};
float _param_sens_flow_minhgt{-1.0f};
int32_t _param_sens_flow_rot{0};
float _param_ekf2_min_rng{NAN};
float _param_ekf2_rng_a_hmax{NAN};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
(ParamFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng,
(ParamFloat<px4::params::EKF2_RNG_A_HMAX>) _param_ekf2_rng_a_hmax
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr
);
// Disallow copy construction and move assignment.