ArduPilot开源代码之AP_DAL_RangeFinder_Backend

1. 源由

AP_DAL_RangeFinder_Backend是封装测距仪的数据访问和操作，提供了接口以获取测距仪的状态、方向、距离等信息。

它提供了AP_DAL_RangeFinder作为测距类更为基础的共性方法。

2. 框架设计

2.1 类成员

• 构造函数:

  • AP_DAL_RangeFinder_Backend(struct log_RRNI &RRNI);
  • 使用一个log_RRNI结构体的引用来初始化。

• 公共方法:

  • enum Rotation orientation() const: 返回测距仪的方向，转换为Rotation类型。
  • AP_DAL_RangeFinder::Status status() const: 返回测距仪的状态，转换为AP_DAL_RangeFinder::Status类型。
  • uint16_t distance_cm() const: 返回测距仪测量的距离（以厘米为单位）。
  • const Vector3f &get_pos_offset() const: 返回位置偏移量的Vector3f引用。
  • void start_frame(AP_RangeFinder_Backend *backend): 启动新的测距帧。

2.2 私有成员

• struct log_RRNI &_RRNI;: 一个指向log_RRNI结构体的引用，存储测距仪的状态和数据。

3. 重要例程

enum Rotation : uint8_t {
    ROTATION_NONE                = 0,
    ROTATION_YAW_45              = 1,
    ROTATION_YAW_90              = 2,
    ROTATION_YAW_135             = 3,
    ROTATION_YAW_180             = 4,
    ROTATION_YAW_225             = 5,
    ROTATION_YAW_270             = 6,
    ROTATION_YAW_315             = 7,
    ROTATION_ROLL_180            = 8,
    ROTATION_ROLL_180_YAW_45     = 9,
    ROTATION_ROLL_180_YAW_90     = 10,
    ROTATION_ROLL_180_YAW_135    = 11,
    ROTATION_PITCH_180           = 12,
    ROTATION_ROLL_180_YAW_225    = 13,
    ROTATION_ROLL_180_YAW_270    = 14,
    ROTATION_ROLL_180_YAW_315    = 15,
    ROTATION_ROLL_90             = 16,
    ROTATION_ROLL_90_YAW_45      = 17,
    ROTATION_ROLL_90_YAW_90      = 18,
    ROTATION_ROLL_90_YAW_135     = 19,
    ROTATION_ROLL_270            = 20,
    ROTATION_ROLL_270_YAW_45     = 21,
    ROTATION_ROLL_270_YAW_90     = 22,
    ROTATION_ROLL_270_YAW_135    = 23,
    ROTATION_PITCH_90            = 24,
    ROTATION_PITCH_270           = 25,
    ROTATION_PITCH_180_YAW_90    = 26, // same as ROTATION_ROLL_180_YAW_270
    ROTATION_PITCH_180_YAW_270   = 27, // same as ROTATION_ROLL_180_YAW_90
    ROTATION_ROLL_90_PITCH_90    = 28,
    ROTATION_ROLL_180_PITCH_90   = 29,
    ROTATION_ROLL_270_PITCH_90   = 30,
    ROTATION_ROLL_90_PITCH_180   = 31,
    ROTATION_ROLL_270_PITCH_180  = 32,
    ROTATION_ROLL_90_PITCH_270   = 33,
    ROTATION_ROLL_180_PITCH_270  = 34,
    ROTATION_ROLL_270_PITCH_270  = 35,
    ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
    ROTATION_ROLL_90_YAW_270     = 37,
    ROTATION_ROLL_90_PITCH_68_YAW_293 = 38, // this is actually, roll 90, pitch 68.8, yaw 293.3
    ROTATION_PITCH_315           = 39,
    ROTATION_ROLL_90_PITCH_315   = 40,
    ROTATION_PITCH_7             = 41,
    ROTATION_ROLL_45             = 42,
    ROTATION_ROLL_315            = 43,
    ///
    // Do not add more rotations without checking that there is not a conflict
    // with the MAVLink spec. MAV_SENSOR_ORIENTATION is expected to match our
    // list of rotations here. If a new rotation is added it needs to be added
    // to the MAVLink messages as well.
    ///
    ROTATION_MAX,
    ROTATION_CUSTOM_OLD          = 100,
    ROTATION_CUSTOM_1            = 101,
    ROTATION_CUSTOM_2            = 102,
    ROTATION_CUSTOM_END,
};

3.1 应用函数

3.1.1 orientation

获取传感器放置方向

    enum Rotation orientation() const {
        return (Rotation)_RRNI.orientation;
    }

3.1.2 status

获取传感器状态

    AP_DAL_RangeFinder::Status status() const {
        return (AP_DAL_RangeFinder::Status)_RRNI.status;
    }

3.1.3 distance_cm

获取安全距离

    uint16_t distance_cm() const { return _RRNI.distance_cm; }

3.1.4 get_pos_offset

获取传感器安装位置

    const Vector3f &get_pos_offset() const { return _RRNI.pos_offset; }

3.2 其他函数

3.2.1 AP_DAL_RangeFinder_Backend

构造函数，直接传址赋值

AP_DAL_RangeFinder_Backend::AP_DAL_RangeFinder_Backend(struct log_RRNI &RRNI) :
    _RRNI(RRNI)
{
}

3.2.2 start_frame

frame处理，直接传址赋值

void AP_DAL_RangeFinder_Backend::start_frame(AP_RangeFinder_Backend *backend) {
    const log_RRNI old = _RRNI;
    _RRNI.orientation = backend->orientation();
    _RRNI.status = (uint8_t)backend->status();
    _RRNI.pos_offset = backend->get_pos_offset();
    _RRNI.distance_cm = backend->distance_cm();
    WRITE_REPLAY_BLOCK_IFCHANGED(RRNI, _RRNI, old);
}

4. 总结

AP_DAL_RangeFinder_Backend主要封装测距仪的共性数据访问和操作。

• orientation //安装方向
• get_pos_offset //安装位置
• status //设备状态
• distance_cm //传感距离

5. 参考资料

【1】ArduPilot开源飞控系统之简单介绍
【2】ArduPilot之开源代码Task介绍
【3】ArduPilot飞控启动&运行过程简介
【4】ArduPilot之开源代码Library&Sketches设计
【5】ArduPilot之开源代码Sensor Drivers设计
【6】ArduPilot开源代码之EKF系列研读
【7】ArduPilot开源代码之AP_DAL_RangeFinder