AP_RangeFinder: allow for more than 327m range #27886

peterbarker · 2024-08-21T05:57:14Z

No description provided.

peterbarker · 2024-10-09T02:34:01Z

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  8                                                                     
Durandal                            48     *           200     248               208    264    264
Hitec-Airspeed           *                                                                     
KakuteH7-bdshot                     96     *           328     336               176    264    288
MatekF405                           -8     *           224     200               288    184    200
Pixhawk1-1M-bdshot                  8                  144     312               352    232    224
f103-QiotekPeriph        *                                                                     
f303-Universal           336                                                                   
iomcu                                                                *                         
revo-mini                           32     *           288     280               608    232    304
skyviper-v2450                                         48

Tools/Replay/LR_MsgHandler.cpp

IamPete1 · 2024-12-23T16:56:05Z

ArduSub/Log.cpp

@@ -48,7 +48,7 @@ void Sub::Log_Write_Control_Tuning()
        inav_alt            : inertial_nav.get_position_z_up_cm() * 0.01f,
        baro_alt            : barometer.get_altitude(),
        desired_rangefinder_alt   : (int16_t)mode_surftrak.get_rangefinder_target_cm(),


These now being in different units will be annoying. I would vote to convert this to meters for logging.

OK, adding a patch.

IamPete1 · 2024-12-23T16:57:08Z

ArduSub/mode_surftrak.cpp

@@ -67,9 +67,9 @@ bool ModeSurftrak::set_rangefinder_target_cm(float target_cm)
        sub.gcs().send_text(MAV_SEVERITY_WARNING, "wrong mode, rangefinder target not set");
    } else if (sub.inertial_nav.get_position_z_up_cm() >= sub.g.surftrak_depth) {
        sub.gcs().send_text(MAV_SEVERITY_WARNING, "descend below %f meters to set rangefinder target", sub.g.surftrak_depth * 0.01f);
-    } else if (target_cm < (float)sub.rangefinder_state.min_cm) {
+    } else if (target_cm < (float)sub.rangefinder_state.min*100) {


Suggested change

} else if (target_cm < (float)sub.rangefinder_state.min*100) {

} else if (target_cm < sub.rangefinder_state.min*100) {

IamPete1 · 2024-12-23T16:57:17Z

ArduSub/mode_surftrak.cpp

        sub.gcs().send_text(MAV_SEVERITY_WARNING, "rangefinder target below minimum, ignored");
-    } else if (target_cm > (float)sub.rangefinder_state.max_cm) {
+    } else if (target_cm > (float)sub.rangefinder_state.max*100) {


Suggested change

} else if (target_cm > (float)sub.rangefinder_state.max*100) {

} else if (target_cm > sub.rangefinder_state.max*100) {

IamPete1 · 2024-12-23T16:57:37Z

ArduSub/sensors.cpp


 #if RANGEFINDER_TILT_CORRECTION
    // correct alt for angle of the rangefinder
-    temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
+    temp_alt_m = (float)temp_alt_m * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);


Suggested change

temp_alt_m = (float)temp_alt_m * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);

temp_alt_m = temp_alt_m * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);

IamPete1 · 2024-12-23T17:04:12Z

libraries/AP_Scripting/docs/docs.lua

@@ -3177,6 +3177,26 @@ function rangefinder:max_distance_cm_orient(orientation) end
 ---@return integer
 function rangefinder:distance_cm_orient(orientation) end

+-- desc


Full descriptions please.

Fixed. Note that I did just copy the block above which used that "desc" thing :-)

Fixed. Note that I did just copy the block above which used that "desc" thing :-)

Yeah, stuff that pre-dates the docs gets a pass, anything new does not. I need to take another pass at filling in the missing ones.

IamPete1 · 2024-12-23T17:12:29Z

libraries/AP_Scripting/generator/description/bindings.desc

@@ -252,10 +252,18 @@ singleton RangeFinder rename rangefinder
 singleton RangeFinder method num_sensors uint8_t
 singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method distance_cm_orient deprecate Use distance_orient (in metres)


Nice! There is also some markup we should add to the docs. If you re-generate it might do that for you..... If not Just add

---@deprecated -- Use distance_orient (in metres)

https://luals.github.io/wiki/annotations/#deprecated

Looks like that will update the static checkers, so you will also have disable that check on any files that need it with:

---@diagnostic disable deprecated

Or move them onto the new method of course....

Nice! There is also some markup we should add to the docs. If you re-generate it might do that for you..... If not Just add

---@deprecated -- Use distance_orient (in metres)

https://luals.github.io/wiki/annotations/#deprecated

Done

Looks like that will update the static checkers, so you will also have disable that check on any files that need it with:

---@diagnostic disable deprecated

Or move them onto the new method of course....

I have moved them to the new method - which I really should have done already!

peterbarker

Thanks for the review, @IamPete1 !

peterbarker · 2024-12-23T21:27:24Z

ArduSub/mode_surftrak.cpp

@@ -67,9 +67,9 @@ bool ModeSurftrak::set_rangefinder_target_cm(float target_cm)
        sub.gcs().send_text(MAV_SEVERITY_WARNING, "wrong mode, rangefinder target not set");
    } else if (sub.inertial_nav.get_position_z_up_cm() >= sub.g.surftrak_depth) {
        sub.gcs().send_text(MAV_SEVERITY_WARNING, "descend below %f meters to set rangefinder target", sub.g.surftrak_depth * 0.01f);
-    } else if (target_cm < (float)sub.rangefinder_state.min_cm) {
+    } else if (target_cm < (float)sub.rangefinder_state.min*100) {


peterbarker · 2024-12-23T21:27:32Z

ArduSub/mode_surftrak.cpp

        sub.gcs().send_text(MAV_SEVERITY_WARNING, "rangefinder target below minimum, ignored");
-    } else if (target_cm > (float)sub.rangefinder_state.max_cm) {
+    } else if (target_cm > (float)sub.rangefinder_state.max*100) {


peterbarker · 2024-12-23T21:29:49Z

ArduSub/sensors.cpp


 #if RANGEFINDER_TILT_CORRECTION
    // correct alt for angle of the rangefinder
-    temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
+    temp_alt_m = (float)temp_alt_m * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);


peterbarker · 2024-12-23T21:38:17Z

libraries/AP_Scripting/docs/docs.lua

@@ -3177,6 +3177,26 @@ function rangefinder:max_distance_cm_orient(orientation) end
 ---@return integer
 function rangefinder:distance_cm_orient(orientation) end

+-- desc


Fixed. Note that I did just copy the block above which used that "desc" thing :-)

peterbarker · 2024-12-23T21:45:37Z

libraries/AP_Scripting/generator/description/bindings.desc

@@ -252,10 +252,18 @@ singleton RangeFinder rename rangefinder
 singleton RangeFinder method num_sensors uint8_t
 singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method distance_cm_orient deprecate Use distance_orient (in metres)


Nice! There is also some markup we should add to the docs. If you re-generate it might do that for you..... If not Just add

---@deprecated -- Use distance_orient (in metres)

https://luals.github.io/wiki/annotations/#deprecated

Done

peterbarker · 2024-12-23T21:45:57Z

libraries/AP_Scripting/generator/description/bindings.desc

@@ -252,10 +252,18 @@ singleton RangeFinder rename rangefinder
 singleton RangeFinder method num_sensors uint8_t
 singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method distance_cm_orient deprecate Use distance_orient (in metres)


Looks like that will update the static checkers, so you will also have disable that check on any files that need it with:

---@diagnostic disable deprecated

Or move them onto the new method of course....

I have moved them to the new method - which I really should have done already!

peterbarker · 2024-12-26T23:10:53Z

Parameter upgrade was tested with this:

./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"

… rename also fix a race condition in the quadplane-tailsitter test - which is unlikely to ever trigger

peterbarker added the WIP label Aug 21, 2024

peterbarker force-pushed the pr/rangefinder-over-327 branch 3 times, most recently from 1bf6995 to 88faf49 Compare August 26, 2024 03:47

peterbarker force-pushed the pr/rangefinder-over-327 branch 2 times, most recently from ea8a289 to 1239beb Compare October 9, 2024 02:10

peterbarker added DevCallEU and removed WIP labels Oct 9, 2024

peterbarker commented Oct 9, 2024

View reviewed changes

Tools/Replay/LR_MsgHandler.cpp Outdated Show resolved Hide resolved

peterbarker force-pushed the pr/rangefinder-over-327 branch 11 times, most recently from 5c0e9ae to 09efa59 Compare October 11, 2024 04:38

tridge added DelayMerge and removed DevCallEU labels Oct 16, 2024

peterbarker force-pushed the pr/rangefinder-over-327 branch from 09efa59 to 0983029 Compare December 22, 2024 21:33

peterbarker added the DevCallTopic label Dec 22, 2024

IamPete1 reviewed Dec 23, 2024

View reviewed changes

peterbarker force-pushed the pr/rangefinder-over-327 branch from 0983029 to 23bf660 Compare December 23, 2024 21:47

peterbarker commented Dec 23, 2024

View reviewed changes

CraigElder removed the DevCallTopic label Dec 23, 2024

AP_DAL: allow for more than 327m range rangefinders

ac758f6

peterbarker added 4 commits December 27, 2024 09:22

AP_Logger: allow for more than 327m range rangefinders

3b28b47

AP_NavEKF2: allow for more than 327m range rangefinders

9d9313b

AP_NavEKF3: allow for more than 327m range rangefinders

0d2bc8b

AP_Proximity: allow for more than 327m range rangefinders

92bb2a6

peterbarker force-pushed the pr/rangefinder-over-327 branch 2 times, most recently from 8f566a9 to 3a6a09f Compare December 26, 2024 22:57

peterbarker added 13 commits December 27, 2024 10:11

AP_RangeFinder: allow for more than 327m range rangefinders

5612d71

AP_Scripting: allow for more than 327m range rangefinders

886a469

GCS_MAVLink: allow for more than 327m range rangefinders

47e61b9

SITL: allow for more than 327m range rangefinders

8d873f4

ArduCopter: allow for more than 327m range rangefinders

bdb9808

ArduSub: allow for more than 327m range rangefinders

5cc111c

ArduPlane: allow for more than 327m range rangefinders

0ae59cf

AP_Frsky_Telem: allow for more than 327m range rangefinders

1747537

AP_SurfaceDistance: allow for more than 327m range rangefinders

b38f3e4

Tools: allow for more than 327m range rangefinders

d4a32f3

Sub: log desired rangefinder alt (DSAlt) in metres not cm

e7cfc0b

AP_Scripting: update examples to not use deprecated methods

29efc79

autotest: correct copter-tailsitter parameter file for RNGFND1_MIN_CM…

b620ad4

… rename also fix a race condition in the quadplane-tailsitter test - which is unlikely to ever trigger

peterbarker force-pushed the pr/rangefinder-over-327 branch from 3a6a09f to b620ad4 Compare December 26, 2024 23:18

peterbarker added the DevCallTopic label Dec 27, 2024

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AP_RangeFinder: allow for more than 327m range #27886

AP_RangeFinder: allow for more than 327m range #27886

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peterbarker commented Dec 26, 2024

	} else if (target_cm < (float)sub.rangefinder_state.min*100) {
	} else if (target_cm < sub.rangefinder_state.min*100) {

	} else if (target_cm > (float)sub.rangefinder_state.max*100) {
	} else if (target_cm > sub.rangefinder_state.max*100) {

	temp_alt_m = (float)temp_alt_m * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
	temp_alt_m = temp_alt_m * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);

AP_RangeFinder: allow for more than 327m range #27886

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AP_RangeFinder: allow for more than 327m range #27886

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peterbarker commented Dec 26, 2024