Line data Source code
1 : #include "AP_RangeFinder_config.h"
2 :
3 : #if AP_RANGEFINDER_ENABLED
4 :
5 : #include "AP_RangeFinder_Params.h"
6 : #include "AP_RangeFinder.h"
7 :
8 : #ifndef AP_RANGEFINDER_DEFAULT_ORIENTATION
9 : #define AP_RANGEFINDER_DEFAULT_ORIENTATION ROTATION_PITCH_270
10 : #endif
11 :
12 : // table of user settable parameters
13 : const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
14 : // @Param: TYPE
15 : // @DisplayName: Rangefinder type
16 : // @Description: Type of connected rangefinder
17 : // @SortValues: AlphabeticalZeroAtTop
18 : // @RebootRequired: True
19 : // @Values: 0:None
20 : // @Values: 1:Analog
21 : // @Values: 2:MaxbotixI2C
22 : // @Values: 3:LidarLite-I2C
23 : // @Values: 5:PWM
24 : // @Values: 6:BBB-PRU
25 : // @Values: 7:LightWareI2C
26 : // @Values: 8:LightWareSerial
27 : // @Values: 9:Bebop
28 : // @Values: 10:MAVLink
29 : // @Values: 11:USD1_Serial
30 : // @Values: 12:LeddarOne
31 : // @Values: 13:MaxbotixSerial
32 : // @Values: 14:TeraRangerI2C
33 : // @Values: 15:LidarLiteV3-I2C
34 : // @Values: 16:VL53L0X or VL53L1X
35 : // @Values: 17:NMEA
36 : // @Values: 18:WASP-LRF
37 : // @Values: 19:BenewakeTF02
38 : // @Values: 20:BenewakeTFmini-Serial
39 : // @Values: 21:LidarLightV3HP
40 : // @Values: 22:PWM
41 : // @Values: 23:BlueRoboticsPing
42 : // @Values: 24:DroneCAN
43 : // @Values: 25:BenewakeTFmini-I2C
44 : // @Values: 26:LanbaoPSK-CM8JL65-CC5
45 : // @Values: 27:BenewakeTF03
46 : // @Values: 28:VL53L1X-ShortRange
47 : // @Values: 29:LeddarVu8-Serial
48 : // @Values: 30:HC-SR04
49 : // @Values: 31:GYUS42v2
50 : // @Values: 32:MSP
51 : // @Values: 33:USD1_CAN
52 : // @Values: 34:Benewake_CAN
53 : // @Values: 35:TeraRangerSerial
54 : // @Values: 36:Lua_Scripting
55 : // @Values: 37:NoopLoop_TOFSense
56 : // @Values: 38:NoopLoop_TOFSense_CAN
57 : // @Values: 39:NRA24_CAN
58 : // @Values: 40:NoopLoop_TOFSenseF_I2C
59 : // @Values: 41:JRE_Serial
60 : // @Values: 42:Ainstein_LR_D1
61 : // @Values: 43:RDS02UF
62 : // @Values: 44:HexsoonRadar
63 : // @Values: 45:LightWare-GRF
64 : // @Values: 46:BenewakeTFS20L
65 : // @Values: 47:DTS6012M-Serial
66 : // @Values: 48:LightWare-GRF-I2C
67 : // @Values: 100:SITL
68 : // @User: Standard
69 : AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),
70 :
71 : // @Param: PIN
72 : // @DisplayName: Rangefinder pin
73 : // @Description: Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
74 : // @Values: -1:Not Used,11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6/Pixhawk2 ADC,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6,103:Pixhawk SBUS
75 : // @Range: -1 127
76 : // @User: Standard
77 : AP_GROUPINFO("PIN", 2, AP_RangeFinder_Params, pin, -1),
78 :
79 : // @Param: SCALING
80 : // @DisplayName: Rangefinder scaling
81 : // @Description: Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.
82 : // @Units: m/V
83 : // @Increment: 0.001
84 : // @User: Standard
85 : AP_GROUPINFO("SCALING", 3, AP_RangeFinder_Params, scaling, 3.0f),
86 :
87 : // @Param: OFFSET
88 : // @DisplayName: rangefinder offset
89 : // @Description: Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
90 : // @Units: V
91 : // @Increment: 0.001
92 : // @User: Standard
93 : AP_GROUPINFO("OFFSET", 4, AP_RangeFinder_Params, offset, 0.0f),
94 :
95 : // @Param: FUNCTION
96 : // @DisplayName: Rangefinder function
97 : // @Description: Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
98 : // @Values: 0:Linear,1:Inverted,2:Hyperbolic
99 : // @User: Standard
100 : AP_GROUPINFO("FUNCTION", 5, AP_RangeFinder_Params, function, 0),
101 :
102 : // @Param: MIN
103 : // @DisplayName: Rangefinder minimum distance
104 : // @Description: Minimum distance in metres that rangefinder can reliably read
105 : // @Units: m
106 : // @Increment: 0.01
107 : // @User: Standard
108 : AP_GROUPINFO("MIN", 6, AP_RangeFinder_Params, min_distance, 0.20),
109 :
110 : // @Param: MAX
111 : // @DisplayName: Rangefinder maximum distance
112 : // @Description: Maximum distance in metres that rangefinder can reliably read
113 : // @Units: m
114 : // @Increment: 0.01
115 : // @User: Standard
116 : AP_GROUPINFO("MAX", 7, AP_RangeFinder_Params, max_distance, 7.00),
117 :
118 : // @Param: STOP_PIN
119 : // @DisplayName: Rangefinder stop pin
120 : // @Description: Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
121 : // @Values: -1:Not Used,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
122 : // @Range: -1 127
123 : // @User: Standard
124 : AP_GROUPINFO("STOP_PIN", 8, AP_RangeFinder_Params, stop_pin, -1),
125 :
126 : // 9 was SETTLE
127 :
128 : // @Param: RMETRIC
129 : // @DisplayName: Ratiometric
130 : // @Description: This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
131 : // @Values: 0:No,1:Yes
132 : // @User: Standard
133 : AP_GROUPINFO("RMETRIC", 10, AP_RangeFinder_Params, ratiometric, 1),
134 :
135 : // @Param: PWRRNG
136 : // @DisplayName: Powersave range
137 : // @Description: This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
138 : // @Units: m
139 : // @Range: 0 32767
140 : // @User: Standard
141 : AP_GROUPINFO("PWRRNG", 11, AP_RangeFinder_Params, powersave_range, 0),
142 :
143 : // @Param: GNDCLR
144 : // @DisplayName: Distance from the range finder to the ground
145 : // @Description: This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
146 : // @Units: m
147 : // @Range: 0.05 1.5
148 : // @Increment: 0.01
149 : // @User: Standard
150 : AP_GROUPINFO("GNDCLR", 12, AP_RangeFinder_Params, ground_clearance, RANGEFINDER_GROUND_CLEARANCE_DEFAULT),
151 :
152 : // @Param: ADDR
153 : // @DisplayName: Bus address of sensor
154 : // @Description: This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. For MAVLink rangefinders, this sets the DISTANCE_SENSOR message id to accept. A value of zero accepts any id.
155 : // @Range: 0 127
156 : // @Increment: 1
157 : // @User: Standard
158 : AP_GROUPINFO("ADDR", 23, AP_RangeFinder_Params, address, 0),
159 :
160 : // @Param: POS_X
161 : // @DisplayName: X position offset
162 : // @Description: X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
163 : // @Units: m
164 : // @Range: -5 5
165 : // @Increment: 0.01
166 : // @User: Advanced
167 :
168 : // @Param: POS_Y
169 : // @DisplayName: Y position offset
170 : // @Description: Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
171 : // @Units: m
172 : // @Range: -5 5
173 : // @Increment: 0.01
174 : // @User: Advanced
175 :
176 : // @Param: POS_Z
177 : // @DisplayName: Z position offset
178 : // @Description: Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
179 : // @Units: m
180 : // @Range: -5 5
181 : // @Increment: 0.01
182 : // @User: Advanced
183 : AP_GROUPINFO("POS", 49, AP_RangeFinder_Params, pos_offset, 0.0f),
184 :
185 : // @Param: ORIENT
186 : // @DisplayName: Rangefinder orientation
187 : // @Description: Orientation of rangefinder
188 : // @Values: 0:Forward, 1:Forward-Right, 2:Right, 3:Back-Right, 4:Back, 5:Back-Left, 6:Left, 7:Forward-Left, 24:Up, 25:Down
189 : // @User: Advanced
190 : AP_GROUPINFO("ORIENT", 53, AP_RangeFinder_Params, orientation, AP_RANGEFINDER_DEFAULT_ORIENTATION),
191 :
192 : AP_GROUPEND
193 : };
194 :
195 :
196 : // PARAMETER_CONVERSION - Added: Dec-2024 for ArduPilot-4.7
197 20570 : void AP_RangeFinder_Params::convert_min_max_params(void)
198 : {
199 : // ./Tools/autotest/test_param_upgrade.py --vehicle=arducopter --param "RNGFND1_MAX_CM=300->RNGFND1_MAX=3.00" --param "RNGFND2_MIN_CM=678->RNGFND2_MIN=6.78" --param "RNGFNDA_MIN_CM=1->RNGFNDA_MIN=0.01" --param "RNGFND5_GNDCLEAR=103->RNGFND5_GNDCLR=1.03"
200 20570 : max_distance.convert_parameter_width(AP_PARAM_INT16, 0.01);
201 20570 : min_distance.convert_parameter_width(AP_PARAM_INT16, 0.01);
202 20570 : ground_clearance.convert_parameter_width(AP_PARAM_INT8, 0.01);
203 20570 : }
204 :
205 20980 : AP_RangeFinder_Params::AP_RangeFinder_Params(void) {
206 20980 : AP_Param::setup_object_defaults(this, var_info);
207 20980 : }
208 :
209 : #endif // AP_RANGEFINDER_ENABLED
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