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AP_Proximity: Change TeraRanger Tower Evo sequence mode to Tower

This commit is contained in:
Mateusz Sadowski 2018-06-15 12:15:58 +02:00 committed by Randy Mackay
parent 39ea8b835e
commit 0c6d689a3b
2 changed files with 5 additions and 6 deletions
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9
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
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@ -36,7 +36,7 @@ AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_
if (uart != nullptr) { if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0)); uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
} }
// _last_request_sent_ms = AP_HAL::millis(); _last_request_sent_ms = AP_HAL::millis();
} }
// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port // detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
@ -93,11 +93,10 @@ void AP_Proximity_TeraRangerTowerEvo::initialise_modes()
} }
if (_current_init_state == InitState_Sequence) { if (_current_init_state == InitState_Sequence) {
//set tower mode - 4 sensors are triggered at once with 90 deg angle between each sensor //set tower mode - 4 sensors are triggered at once with 90 deg angle between each sensor
//if this mode is not set the tower will default to sequential mode set_mode(TOWER_MODE, 4);
set_mode(SEQUENCE_MODE, 4);
_current_init_state = InitState_Rate; _current_init_state = InitState_Rate;
} else if (_current_init_state == InitState_Rate) { } else if (_current_init_state == InitState_Rate) {
//set update rate of the sensor. If it's not set it will default to ASAP mode //set update rate of the sensor.
set_mode(REFRESH_50_HZ, 5); set_mode(REFRESH_50_HZ, 5);
_current_init_state = InitState_StreamStart; _current_init_state = InitState_StreamStart;
} else if (_current_init_state == InitState_StreamStart) { } else if (_current_init_state == InitState_StreamStart) {
@ -174,7 +173,7 @@ void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint
_distance[sector] = ((float) distance_cm) / 1000; _distance[sector] = ((float) distance_cm) / 1000;
//check for target too far, target too close and sensor not connected //check for target too far, target too close and sensor not connected
_distance_valid[sector] = distance_cm != 0xffff; //&& distance_cm != 0x0000 && distance_cm != 0x0001; _distance_valid[sector] = distance_cm != 0xffff && distance_cm != 0x0000 && distance_cm != 0x0001;
_last_distance_received_ms = AP_HAL::millis(); _last_distance_received_ms = AP_HAL::millis();
// update boundary used for avoidance // update boundary used for avoidance
update_boundary_for_sector(sector); update_boundary_for_sector(sector);

2
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
View File

@ -40,7 +40,7 @@ private:
// reply related variables // reply related variables
AP_HAL::UARTDriver *uart = nullptr; AP_HAL::UARTDriver *uart = nullptr;
uint8_t buffer[20]; // buffer where to store data from serial uint8_t buffer[21]; // buffer where to store data from serial
uint8_t buffer_count; uint8_t buffer_count;
// request related variables // request related variables