sf1xx: update for new orientation convention

add possibility to specify orientation and adapt to new defaults and use px4_getopt

src/drivers/sf1xx/sf1xx.cpp

@@ -43,6 +43,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_getopt.h>
 
 #include <drivers/device/i2c.h>
 
@@ -89,7 +90,8 @@
 class SF1XX : public device::I2C
 {
 public:
-	SF1XX(int bus = SF1XX_BUS, int address = SF1XX_BASEADDR);
+	SF1XX(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING, int bus = SF1XX_BUS,
+	      int address = SF1XX_BASEADDR);
 	virtual ~SF1XX();
 
 	virtual int 		init();
@@ -106,6 +108,7 @@ protected:
 	virtual int			probe();
 
 private:
+	uint8_t _rotation;
 	float				_min_distance;
 	float				_max_distance;
 	int                             _conversion_interval;
@@ -178,8 +181,9 @@ private:
  */
 extern "C" __EXPORT int sf1xx_main(int argc, char *argv[]);
 
-SF1XX::SF1XX(int bus, int address) :
+SF1XX::SF1XX(uint8_t rotation, int bus, int address) :
 	I2C("SF1XX", SF1XX_DEVICE_PATH, bus, address, 400000),
+	_rotation(rotation),
 	_min_distance(-1.0f),
 	_max_distance(-1.0f),
 	_conversion_interval(-1),
@@ -563,7 +567,7 @@ SF1XX::collect()
 	struct distance_sensor_s report;
 	report.timestamp = hrt_absolute_time();
 	report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
-	report.orientation = 8;
+	report.orientation = _rotation;
 	report.current_distance = distance_m;
 	report.min_distance = get_minimum_distance();
 	report.max_distance = get_maximum_distance();
@@ -651,7 +655,7 @@ namespace sf1xx
 
 SF1XX	*g_dev;
 
-void	start();
+void	start(uint8_t rotation);
 void	stop();
 void	test();
 void	reset();
@@ -661,7 +665,7 @@ void	info();
  * Start the driver.
  */
 void
-start()
+start(uint8_t rotation)
 {
 	int fd = -1;
 
@@ -670,7 +674,7 @@ start()
 	}
 
 	/* create the driver */
-	g_dev = new SF1XX(SF1XX_BUS);
+	g_dev = new SF1XX(rotation, SF1XX_BUS);
 
 	if (g_dev == nullptr) {
 		goto fail;
@@ -836,38 +840,57 @@ info()
 int
 sf1xx_main(int argc, char *argv[])
 {
+	// check for optional arguments
+	int ch;
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+
+
+	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (uint8_t)atoi(myoptarg);
+			PX4_INFO("Setting distance sensor orientation to %d", (int)rotation);
+			break;
+
+		default:
+			PX4_WARN("Unknown option!");
+		}
+	}
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start")) {
-		sf1xx::start();
+	if (!strcmp(argv[myoptind], "start")) {
+		sf1xx::start(rotation);
 	}
 
 	/*
 	 * Stop the driver
 	 */
-	if (!strcmp(argv[1], "stop")) {
+	if (!strcmp(argv[myoptind], "stop")) {
 		sf1xx::stop();
 	}
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test")) {
+	if (!strcmp(argv[myoptind], "test")) {
 		sf1xx::test();
 	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset")) {
+	if (!strcmp(argv[myoptind], "reset")) {
 		sf1xx::reset();
 	}
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+	if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
 		sf1xx::info();
 	}