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temporally revert to prior version of Sonar class to narrow in on a bug. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2708 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-06-30 22:32:26 +00:00
parent 8ce403cbe4
commit 00222a2e20
1 changed files with 41 additions and 0 deletions
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41
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -59,6 +59,46 @@ void RangeFinder::set_orientation(int x, int y, int z)
orientation_z = z;
}
// Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read()
{
// local variables
int temp_dist;
int total = 0;
int i;
// read from the analog port or pitot tube
if( _analogPort == AP_RANGEFINDER_PITOT_TUBE ) {
if( _ap_adc != NULL )
raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2; // values from ADC are twice as big as you'd expect
else
raw_value = 0;
}else{
// read raw sensor value and convert to distance
raw_value = analogRead(_analogPort);
}
// convert analog value to distance in cm (using child implementation most likely)
temp_dist = convert_raw_to_distance(raw_value);
// ensure distance is within min and max
distance = constrain(temp_dist, min_distance, max_distance);
// filter the results
if( _num_averages > 1 )
{
_history_ptr = (_history_ptr + 1) % _num_averages;
_history[_history_ptr] = distance;
for(i=0; i<_num_averages; i++ )
total += _history[i];
distance = total / _num_averages;
}
// return distance
return distance;
}
/*
// Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read()
{
@ -109,3 +149,4 @@ int RangeFinder::read()
}
*/