本文整理汇总了C++中AP_RangeFinder_Backend::has_data方法的典型用法代码示例。如果您正苦于以下问题：C++ AP_RangeFinder_Backend::has_data方法的具体用法？C++ AP_RangeFinder_Backend::has_data怎么用？C++ AP_RangeFinder_Backend::has_data使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类AP_RangeFinder_Backend的用法示例。
在下文中一共展示了AP_RangeFinder_Backend::has_data方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: has_data_orient
bool RangeFinder::has_data_orient(enum Rotation orientation) const
{
AP_RangeFinder_Backend *backend = find_instance(orientation);
if (backend == nullptr) {
return false;
}
return backend->has_data();
}示例2: update_sensor_status_flags
// update error mask of sensors and subsystems. The mask
// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
// then it indicates that the sensor or subsystem is present but
// not functioning correctly.
void Rover::update_sensor_status_flags(void)
{
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
if (g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (g2.visual_odom.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
if (rover.DataFlash.logging_present()) { // primary logging only (usually File)
control_sensors_present |= MAV_SYS_STATUS_LOGGING;
}
if (rover.g2.proximity.get_status() > AP_Proximity::Proximity_NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING &
~MAV_SYS_STATUS_SENSOR_BATTERY);
if (control_mode->attitude_stabilized()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
}
if (control_mode->is_autopilot_mode()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
}
if (rover.DataFlash.logging_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
}
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
if (battery.num_instances() > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
}
// default to all healthy except compass and gps which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (gps.is_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
if (g2.visual_odom.enabled() && !g2.visual_odom.healthy()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
}
if (!ins.get_accel_health_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
}
if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (rangefinder.num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (g.rangefinder_trigger_cm > 0) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
AP_RangeFinder_Backend *s = rangefinder.get_backend(0);
if (s != nullptr && s->has_data()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
if (rover.g2.proximity.get_status() < AP_Proximity::Proximity_Good) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rover.DataFlash.logging_failed()) {
control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
}
if (!battery.healthy() || battery.has_failsafed()) {
control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
}
//.........这里部分代码省略.........