fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 00:14:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update range finder interface

Browse Source
This commit is contained in:
kamilritz 2020-01-21 14:49:49 +01:00 committed by Paul Riseborough
parent 9f0d8ed59e
commit 4fb2d1b02e
4 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
EKF/estimator_interface.cpp
View File

@ -320,7 +320,7 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
}
}
void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t quality)
void EstimatorInterface::setRangeData(const rangeSample& range_sample)
{
if (!_initialised || _range_buffer_fail) {
return;
@ -338,12 +338,12 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float data, int8_t qua
}
// limit data rate to prevent data being lost
if ((time_usec - _time_last_range) > _min_obs_interval_us) {
if ((range_sample.time_us - _time_last_range) > _min_obs_interval_us) {
_time_last_range = range_sample.time_us;
rangeSample range_sample_new;
range_sample_new.rng = data;
range_sample_new.time_us = time_usec - _params.range_delay_ms * 1000;
range_sample_new.quality = quality;
_time_last_range = time_usec;
range_sample_new.time_us -= _params.range_delay_ms * 1000;
range_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_range_buffer.push(range_sample_new);
}

2
EKF/estimator_interface.h
View File

@ -185,7 +185,7 @@ public:
void setAirspeedData(const airspeedSample &airspeed_sample);
void setRangeData(uint64_t time_usec, float data, int8_t quality);
void setRangeData(const rangeSample& range_sample);
// if optical flow sensor gyro delta angles are not available, set gyroXYZ vector fields to NaN and the EKF will use its internal delta angle data instead
void setOpticalFlowData(uint64_t time_usec, flow_message *flow);

7
test/sensor_simulator/range_finder.cpp
View File

@ -15,13 +15,14 @@ RangeFinder::~RangeFinder()
void RangeFinder::send(uint64_t time)
{
_ekf->setRangeData(time, _range_data, _range_quality);
_range_sample.time_us = time;
_ekf->setRangeData(_range_sample);
}
void RangeFinder::setData(float range_data_meters, int8_t range_quality)
{
_range_data = range_data_meters;
_range_quality = range_quality;
_range_sample.rng = range_data_meters;
_range_sample.quality = range_quality;
}
} // namespace sensor

3
test/sensor_simulator/range_finder.h
View File

@ -54,8 +54,7 @@ public:
flow_message dataAtRest();
private:
float _range_data{0.0f};
int8_t _range_quality;
rangeSample _range_sample {};
void send(uint64_t time) override;