AP_RangeFinder: make rangefinder ranges m rather than cm

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -663,6 +663,15 @@ AP_RangeFinder_Backend *RangeFinder::find_instance(enum Rotation orientation) co
     return nullptr;
 }
 
+float RangeFinder::distance_orient(enum Rotation orientation) const
+{
+    AP_RangeFinder_Backend *backend = find_instance(orientation);
+    if (backend == nullptr) {
+        return 0;
+    }
+    return backend->distance();
+}
+
 uint16_t RangeFinder::distance_cm_orient(enum Rotation orientation) const
 {
     AP_RangeFinder_Backend *backend = find_instance(orientation);

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -107,7 +107,7 @@ public:
 
     // The RangeFinder_State structure is filled in by the backend driver
     struct RangeFinder_State {
-        uint16_t distance_cm;           // distance: in cm
+        float distance_m;               // distance in meters
         uint16_t voltage_mv;            // voltage in millivolts, if applicable, otherwise 0
         enum RangeFinder::Status status; // sensor status
         uint8_t  range_valid_count;     // number of consecutive valid readings (maxes out at 10)
@@ -170,6 +170,7 @@ public:
     
     // methods to return a distance on a particular orientation from
     // any sensor which can current supply it
+    float distance_orient(enum Rotation orientation) const;
     uint16_t distance_cm_orient(enum Rotation orientation) const;
     int16_t max_distance_cm_orient(enum Rotation orientation) const;
     int16_t min_distance_cm_orient(enum Rotation orientation) const;

libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp

@@ -111,7 +111,7 @@ bool AP_RangeFinder_BBB_PRU::detect()
 void AP_RangeFinder_BBB_PRU::update(void)
 {
     state.status = (RangeFinder::Status)rangerpru->status;
-    state.distance_cm = rangerpru->distance;
+    state.distance_m = rangerpru->distance * 0.01f;
     state.last_reading_ms = AP_HAL::millis();
 }
 #endif // CONFIG_HAL_BOARD_SUBTYPE

libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp

@@ -45,8 +45,8 @@ void AP_RangeFinder_BLPing::init_sensor()
     protocol.send_message(uart, PingProtocol::MessageId::CONTINUOUS_START, reinterpret_cast<uint8_t*>(&continuous_message), sizeof(continuous_message));
 }
 
-// distance returned in reading_cm, signal_ok is set to true if sensor reports a strong signal
+// distance returned in reading_m, signal_ok is set to true if sensor reports a strong signal
-bool AP_RangeFinder_BLPing::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_BLPing::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -73,7 +73,7 @@ bool AP_RangeFinder_BLPing::get_reading(uint16_t &reading_cm)
 
     if (averageStruct.count > 0) {
         // return average distance of readings
-        reading_cm = averageStruct.mean();
+        reading_m = averageStruct.mean() * 0.01f;
         return true;
     }
 

libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h

@@ -151,11 +151,11 @@ private:
     /**
      * @brief Read serial interface and calculate new distance
      *
-     * @param reading_cm
+     * @param reading_m
      * @return true
      * @return false
      */
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     /**
      * @brief Timeout between messages

libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp

@@ -56,9 +56,9 @@ bool AP_RangeFinder_Backend::has_data() const {
 void AP_RangeFinder_Backend::update_status()
 {
     // check distance
-    if ((int16_t)state.distance_cm > max_distance_cm()) {
+    if (state.distance_m > max_distance_cm() * 0.01f) {
         set_status(RangeFinder::Status::OutOfRangeHigh);
-    } else if ((int16_t)state.distance_cm < min_distance_cm()) {
+    } else if (state.distance_m < min_distance_cm() * 0.01f) {
         set_status(RangeFinder::Status::OutOfRangeLow);
     } else {
         set_status(RangeFinder::Status::Good);

libraries/AP_RangeFinder/AP_RangeFinder_Backend.h

@@ -38,7 +38,8 @@ public:
 #endif
 
     enum Rotation orientation() const { return (Rotation)params.orientation.get(); }
-    uint16_t distance_cm() const { return state.distance_cm; }
+    float distance() const { return state.distance_m; }
+    uint16_t distance_cm() const { return state.distance_m*100.0f; }
     uint16_t voltage_mv() const { return state.voltage_mv; }
     virtual int16_t max_distance_cm() const { return params.max_distance_cm; }
     virtual int16_t min_distance_cm() const { return params.min_distance_cm; }

libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp

@@ -62,7 +62,7 @@ bool AP_RangeFinder_Backend_Serial::detect(uint8_t serial_instance)
 */
 void AP_RangeFinder_Backend_Serial::update(void)
 {
-    if (get_reading(state.distance_cm)) {
+    if (get_reading(state.distance_m)) {
         // update range_valid state based on distance measured
         state.last_reading_ms = AP_HAL::millis();
         update_status();

libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h

@@ -29,7 +29,7 @@ protected:
 
     // it is essential that anyone relying on the base-class update to
     // implement this:
-    virtual bool get_reading(uint16_t &reading_cm) = 0;
+    virtual bool get_reading(float &reading_m) = 0;
 
     // maximum time between readings before we change state to NoData:
     virtual uint16_t read_timeout_ms() const { return 200; }

libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp

@@ -271,7 +271,7 @@ void AP_RangeFinder_Bebop::update(void)
         first_call = false;
     }
 
-    state.distance_cm = (uint16_t) (_altitude * 100);
+    state.distance_m = _altitude;
     state.last_reading_ms = AP_HAL::millis();
     update_status();
 }

libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp

@@ -45,8 +45,8 @@ extern const AP_HAL::HAL& hal;
 // byte 7 (TF02 only)   TIME            Exposure time in two levels 0x03 and 0x06
 // byte 8               Checksum        Checksum byte, sum of bytes 0 to bytes 7
 
-// distance returned in reading_cm, signal_ok is set to true if sensor reports a strong signal
+// distance returned in reading_m, signal_ok is set to true if sensor reports a strong signal
-bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_Benewake::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -118,14 +118,14 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
 
     if (count > 0) {
         // return average distance of readings
-        reading_cm = sum_cm / count;
+        reading_m = (sum_cm * 0.01f) / count;
         return true;
     }
 
     if (count_out_of_range > 0) {
         // if only out of range readings return larger of
         // driver defined maximum range for the model and user defined max range + 1m
-        reading_cm = MAX(model_dist_max_cm(), max_distance_cm() + BENEWAKE_OUT_OF_RANGE_ADD_CM);
+        reading_m = MAX(model_dist_max_cm(), max_distance_cm() + BENEWAKE_OUT_OF_RANGE_ADD_CM) * 0.01f;
         return true;
     }
 

libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h

@@ -22,8 +22,8 @@ protected:
 private:
 
     // get a reading
-    // distance returned in reading_cm
+    // distance returned in reading_m
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     uint8_t linebuf[10];
     uint8_t linebuf_len;

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp

@@ -141,7 +141,7 @@ void AP_RangeFinder_Benewake_TFMiniPlus::update()
     WITH_SEMAPHORE(_sem);
 
     if (accum.count > 0) {
-        state.distance_cm = accum.sum / accum.count;
+        state.distance_m = (accum.sum * 0.01f) / accum.count;
         state.last_reading_ms = AP_HAL::millis();
         accum.sum = 0;
         accum.count = 0;

libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.cpp

@@ -34,7 +34,7 @@ bool AP_RangeFinder_GYUS42v2::find_signature_in_buffer(uint8_t start)
 }
 
 // get_reading - read a value from the sensor
-bool AP_RangeFinder_GYUS42v2::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_GYUS42v2::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -65,7 +65,7 @@ bool AP_RangeFinder_GYUS42v2::get_reading(uint16_t &reading_cm)
         return false;
     }
 
-    reading_cm = buffer[4] << 8 | buffer[5];
+    reading_m = (buffer[4] << 8 | buffer[5]) * 0.01f;
     buffer_used = 0;
 
     return true;

libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h

@@ -23,7 +23,7 @@ protected:
 private:
 
     // get a reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     // find signature byte in buffer starting at start, moving that
     // byte and following bytes to start of buffer.

libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp

@@ -87,7 +87,7 @@ void AP_RangeFinder_HC_SR04::update(void)
     // check if pin has changed and configure interrupt handlers if required:
     if (!check_pins()) {
         // disabled (either by configuration or failure to attach interrupt)
-        state.distance_cm = 0.0f;
+        state.distance_m = 0.0f;
         return;
     }
 
@@ -98,27 +98,27 @@ void AP_RangeFinder_HC_SR04::update(void)
         // no reading; check for timeout:
         if (now - last_reading_ms > 1000) {
             // no reading for a second - something is broken
-            state.distance_cm = 0.0f;
+            state.distance_m = 0.0f;
         }
     } else {
         // gcs().send_text(MAV_SEVERITY_WARNING, "Pong!");
         // a new reading - convert time to distance
-        state.distance_cm = value_us * (1.0/58.0f);  // 58 is from datasheet, mult for performance
+        state.distance_m = (value_us * (1.0/58.0f)) * 0.01f;  // 58 is from datasheet, mult for performance
 
         // glitch remover: measurement is greater than .5m from last.
         // the SR-04 seeems to suffer from single-measurement glitches
         // which can be removed by a simple filter.
-        if (labs(int32_t(uint32_t(state.distance_cm) - last_distance_cm)) > 50) {
+        if (fabsf(state.distance_m - last_distance_m) > 0.5f) {
             // if greater for 5 readings then pass it as new height,
             // otherwise use last reading
             if (glitch_count++ > 4) {
-                 last_distance_cm = state.distance_cm;
+                 last_distance_m = state.distance_m;
             } else {
-                 state.distance_cm = last_distance_cm;
+                 state.distance_m = last_distance_m;
             }
         } else {
             // is not greater 0.5m, pass on and reset glitch counter
-            last_distance_cm = state.distance_cm;
+            last_distance_m = state.distance_m;
             glitch_count = 0;
         }
 

libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h

@@ -30,7 +30,7 @@ private:
 
     int8_t trigger_pin;
     uint32_t last_reading_ms;      // system time of last read (used for health reporting)
-    uint32_t last_distance_cm;     // last distance reported (used to prevent glitches in measurement)
+    float last_distance_m;         // last distance reported (used to prevent glitches in measurement)
     uint8_t glitch_count;          // glitch counter
 
     AP_HAL::PWMSource pwm_source;

libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp

@@ -28,10 +28,10 @@ extern const AP_HAL::HAL& hal;
   the sky. For this reason we limit the max range to 6 meters as
   otherwise we may be giving false data
  */
-#define LANBAO_MAX_RANGE_CM 600
+#define LANBAO_MAX_RANGE_M 6
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_Lanbao::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_Lanbao::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -75,8 +75,8 @@ bool AP_RangeFinder_Lanbao::get_reading(uint16_t &reading_cm)
         }
     }
     if (count > 0) {
-        reading_cm = (sum_range / count) * 100;
+        reading_m = (sum_range / count);
-        return reading_cm <= LANBAO_MAX_RANGE_CM?true:false;
+        return reading_m <= LANBAO_MAX_RANGE_M?true:false;
     }
     return false;
 }

libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h

@@ -23,7 +23,7 @@ protected:
 
 private:
     // get a reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     uint8_t buf[6];
     uint8_t buf_len = 0;

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp

@@ -21,7 +21,7 @@
 extern const AP_HAL::HAL& hal;
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_LeddarOne::get_reading(float &reading_m)
 {
     uint8_t number_detections;
     LeddarOne_Status leddarone_status;
@@ -70,7 +70,7 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
         leddarone_status = parse_response(number_detections);
 
         if (leddarone_status == LEDDARONE_STATE_OK) {
-            reading_cm = sum_distance / number_detections;
+            reading_m = (sum_distance * 0.01f) / number_detections;
 
             // reset mod_bus status to read new buffer
             modbus_status = LEDDARONE_MODBUS_STATE_INIT;

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h

@@ -52,7 +52,7 @@ protected:
 
 private:
     // get a reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     // CRC16
     bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck);

libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp

@@ -29,7 +29,7 @@ extern const AP_HAL::HAL& hal;
 #define LEDDARVU8_TIMEOUT_MS                200         // timeout in milliseconds if no distance messages received
 
 // distance returned in reading_cm, signal_ok is set to true if sensor reports a strong signal
-bool AP_RangeFinder_LeddarVu8::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_LeddarVu8::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -73,11 +73,11 @@ bool AP_RangeFinder_LeddarVu8::get_reading(uint16_t &reading_cm)
 
         if (count > 0) {
             // return average distance of readings
-            reading_cm = sum_cm / count;
+            reading_m = (sum_cm * 0.01f) / count;
         } else {
             // if only out of range readings return larger of
             // driver defined maximum range for the model and user defined max range + 1m
-            reading_cm = MAX(LEDDARVU8_DIST_MAX_CM, max_distance_cm() + LEDDARVU8_OUT_OF_RANGE_ADD_CM);
+            reading_m = MAX(LEDDARVU8_DIST_MAX_CM, max_distance_cm() + LEDDARVU8_OUT_OF_RANGE_ADD_CM)/100.0f;
         }
         return true;
     }

libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h

@@ -25,7 +25,7 @@ protected:
     }
 
     // get a reading, distance returned in reading_cm
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     // maximum time between readings before we change state to NoData:
     uint16_t read_timeout_ms() const override { return 500; }

libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp

@@ -337,7 +337,7 @@ bool AP_RangeFinder_LightWareI2C::sf20_init()
 }
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_LightWareI2C::legacy_get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_LightWareI2C::legacy_get_reading(float &reading_m)
 {
     be16_t val;
 
@@ -348,9 +348,9 @@ bool AP_RangeFinder_LightWareI2C::legacy_get_reading(uint16_t &reading_cm)
         int16_t signed_val = int16_t(be16toh(val));
         if (signed_val < 0) {
             // some lidar firmwares will return 65436 for out of range
-            reading_cm = uint16_t(max_distance_cm() + LIGHTWARE_OUT_OF_RANGE_ADD_CM);
+            reading_m = uint16_t(max_distance_cm() + LIGHTWARE_OUT_OF_RANGE_ADD_CM) * 0.01f;
         } else {
-            reading_cm = uint16_t(signed_val);
+            reading_m = uint16_t(signed_val) * 0.01f;
         }
         return true;
     }
@@ -358,7 +358,7 @@ bool AP_RangeFinder_LightWareI2C::legacy_get_reading(uint16_t &reading_cm)
 }
 
 // read - return last value measured by sf20 sensor
-bool AP_RangeFinder_LightWareI2C::sf20_get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_LightWareI2C::sf20_get_reading(float &reading_m)
 {
     // Parses up to 5 ASCII streams for LiDAR data.
     // If a parse fails, the stream measurement is not updated until it is successfully read in the future.
@@ -378,7 +378,7 @@ bool AP_RangeFinder_LightWareI2C::sf20_get_reading(uint16_t &reading_cm)
     }
 
     if (i==0) {
-        reading_cm = sf20_stream_val[0];
+        reading_m = sf20_stream_val[0] * 0.01f;
     }
 
     // Increment the stream sequence
@@ -462,7 +462,7 @@ void AP_RangeFinder_LightWareI2C::update(void)
 
 void AP_RangeFinder_LightWareI2C::legacy_timer(void)
 {
-    if (legacy_get_reading(state.distance_cm)) {
+    if (legacy_get_reading(state.distance_m)) {
         // update range_valid state based on distance measured
         update_status();
     } else {
@@ -472,7 +472,7 @@ void AP_RangeFinder_LightWareI2C::legacy_timer(void)
 
 void AP_RangeFinder_LightWareI2C::sf20_timer(void)
 {
-    if (sf20_get_reading(state.distance_cm)) {
+    if (sf20_get_reading(state.distance_m)) {
         // update range_valid state based on distance measured
         update_status();
     } else {

libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h

@@ -49,8 +49,8 @@ private:
     void sf20_timer();
 
     // get a reading
-    bool legacy_get_reading(uint16_t &reading_cm);
+    bool legacy_get_reading(float &reading_m);
-    bool sf20_get_reading(uint16_t &reading_cm);
+    bool sf20_get_reading(float &reading_m);
     bool sf20_parse_stream(uint8_t *stream_buf,
                            size_t *p_num_processed_chars,
                            const char *string_identifier,

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp

@@ -24,7 +24,7 @@ extern const AP_HAL::HAL& hal;
 #define LIGHTWARE_OUT_OF_RANGE_ADD_CM   100
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_LightWareSerial::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -115,13 +115,13 @@ bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
 
     // return average of all valid readings
     if (valid_count > 0) {
-        reading_cm = 100 * sum / valid_count;
+        reading_m = sum / valid_count;
         return true;
     }
 
     // all readings were invalid so return out-of-range-high value
     if (invalid_count > 0) {
-        reading_cm = MIN(MAX(LIGHTWARE_DIST_MAX_CM, max_distance_cm() + LIGHTWARE_OUT_OF_RANGE_ADD_CM), UINT16_MAX);
+        reading_m = MIN(MAX(LIGHTWARE_DIST_MAX_CM, max_distance_cm() + LIGHTWARE_OUT_OF_RANGE_ADD_CM), UINT16_MAX) * 0.01f;
         return true;
     }
 

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h

@@ -18,7 +18,7 @@ protected:
 
 private:
     // get a reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     char linebuf[10];           // legacy protocol buffer
     uint8_t linebuf_len;        // legacy protocol buffer length

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

@@ -67,9 +67,9 @@ void AP_RangeFinder_MAVLink::update(void)
     //data in 500ms, dump it
     if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
         set_status(RangeFinder::Status::NoData);
-        state.distance_cm = 0;
+        state.distance_m = 0.0f;
     } else {
-        state.distance_cm = distance_cm;
+        state.distance_m = distance_cm * 0.01f;
         update_status();
     }
 }

libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp

@@ -61,9 +61,9 @@ void AP_RangeFinder_MSP::update(void)
     //data in 500ms, dump it
     if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MSP_TIMEOUT_MS) {
         set_status(RangeFinder::Status::NoData);
-        state.distance_cm = 0;
+        state.distance_m = 0.0f;
     } else {
-        state.distance_cm = distance_cm;
+        state.distance_m = distance_cm * 0.01f;
         update_status();
     }
 }

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp

@@ -143,7 +143,7 @@ void AP_RangeFinder_MaxsonarI2CXL::update(void)
 {
     WITH_SEMAPHORE(_sem);
     if (new_distance) {
-        state.distance_cm = distance;
+        state.distance_m = distance * 0.01f;
         new_distance = false;
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 300) {

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp

@@ -25,7 +25,7 @@
 extern const AP_HAL::HAL& hal;
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_MaxsonarSerialLV::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_MaxsonarSerialLV::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -55,8 +55,8 @@ bool AP_RangeFinder_MaxsonarSerialLV::get_reading(uint16_t &reading_cm)
         return false;
     }
 
-    // This sonar gives the metrics in inches, so we have to transform this to centimeters
+    // This sonar gives the metrics in inches, so we have to transform this to meters
-    reading_cm = 2.54f * sum / count;
+    reading_m = (2.54f * 0.01f) * (float(sum) / count);
 
     return true;
 }

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h

@@ -18,7 +18,7 @@ protected:
 
 private:
     // get a reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     uint16_t read_timeout_ms() const override { return 500; }
 

libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp

@@ -21,7 +21,7 @@
 extern const AP_HAL::HAL& hal;
 
 // return last value measured by sensor
-bool AP_RangeFinder_NMEA::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_NMEA::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -45,7 +45,7 @@ bool AP_RangeFinder_NMEA::get_reading(uint16_t &reading_cm)
     }
 
     // return average of all measurements
-    reading_cm = 100.0f * sum / count;
+    reading_m = sum / count;
     return true;
 }
 

libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h

@@ -43,7 +43,7 @@ private:
     };
 
     // get a distance reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     // get temperature reading in C.  returns true on success and populates temp argument
     bool get_temp(float &temp) const override;

libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp

@@ -40,14 +40,14 @@ bool AP_RangeFinder_PWM::detect()
 }
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_PWM::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_PWM::get_reading(float &reading_m)
 {
     const uint32_t value_us = pwm_source.get_pwm_avg_us();
     if (value_us == 0) {
         return false;
     }
 
-    reading_cm = value_us/10; // correct for LidarLite.  Parameter needed?  Converts from decimetres -> cm here
+    reading_m = value_us * 10.0f; // correct for LidarLite.  Parameter needed?  Converts from decimetres -> m here
     return true;
 }
 
@@ -94,7 +94,7 @@ void AP_RangeFinder_PWM::update(void)
                 // we are above the power saving range. Disable the sensor
                 hal.gpio->write(params.stop_pin, false);
                 set_status(RangeFinder::Status::NoData);
-                state.distance_cm = 0;
+                state.distance_m = 0.0f;
                 state.voltage_mv = 0;
                 was_out_of_range = oor;
             }
@@ -107,7 +107,7 @@ void AP_RangeFinder_PWM::update(void)
         }
     }
 
-    if (!get_reading(state.distance_cm)) {
+    if (!get_reading(state.distance_m)) {
         // failure; consider changing our state
         if (AP_HAL::millis() - state.last_reading_ms > 200) {
             set_status(RangeFinder::Status::NoData);
@@ -115,7 +115,7 @@ void AP_RangeFinder_PWM::update(void)
         return;
     }
     // add offset
-    state.distance_cm += params.offset;
+    state.distance_m += params.offset * 0.01f;
 
     // update range_valid state based on distance measured
     state.last_reading_ms = AP_HAL::millis();

libraries/AP_RangeFinder/AP_RangeFinder_PWM.h

@@ -36,7 +36,7 @@ public:
 
 protected:
 
-    bool get_reading(uint16_t &reading_cm);
+    bool get_reading(float &reading_m);
 
     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
         return MAV_DISTANCE_SENSOR_UNKNOWN;

libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp

@@ -91,7 +91,7 @@ void AP_RangeFinder_PulsedLightLRF::timer(void)
             uint16_t _distance_cm = be16toh(val);
             // remove momentary spikes
             if (abs(_distance_cm - last_distance_cm) < 100) {
-                state.distance_cm = _distance_cm;
+                state.distance_m = _distance_cm * 0.01f;
                 state.last_reading_ms = AP_HAL::millis();
                 update_status();                
             }

libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp

@@ -42,7 +42,7 @@ void AP_RangeFinder_SITL::update(void)
         return;
     }
 
-    state.distance_cm = dist * 100.0f;
+    state.distance_m = dist;
     state.last_reading_ms = AP_HAL::millis();
 
     // update range_valid state based on distance measured

libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp

@@ -180,7 +180,7 @@ void AP_RangeFinder_TeraRangerI2C::update(void)
     WITH_SEMAPHORE(_sem);
 
     if (accum.count > 0) {
-        state.distance_cm = accum.sum / accum.count;
+        state.distance_m = (accum.sum * 0.01f) / accum.count;
         state.last_reading_ms = AP_HAL::millis();
         accum.sum = 0;
         accum.count = 0;

libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp

@@ -108,7 +108,7 @@ void AP_RangeFinder_UAVCAN::update()
         set_status(RangeFinder::Status::NoData);
     } else if (_status == RangeFinder::Status::Good && new_data) {
         //copy over states
-        state.distance_cm = _distance_cm;
+        state.distance_m = _distance_cm * 0.01f;
         state.last_reading_ms = _last_reading_ms;
         update_status();
         new_data = false;

libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp

@@ -21,7 +21,7 @@ void AP_RangeFinder_USD1_CAN::update(void)
         // if data is older than 500ms, report NoData
         set_status(RangeFinder::Status::NoData);
     } else if (new_data) {
-        state.distance_cm = _distance_cm;
+        state.distance_m = _distance_cm * 0.01f;
         state.last_reading_ms = _last_reading_ms;
         update_status();
         new_data = false;

libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp

@@ -762,7 +762,7 @@ uint16_t AP_RangeFinder_VL53L0X::read_register16(uint8_t reg)
 void AP_RangeFinder_VL53L0X::update(void)
 {
     if (counter > 0) {
-        state.distance_cm = sum_mm / (10*counter);
+        state.distance_m = (sum_mm * 0.001f) / counter;
         state.last_reading_ms = AP_HAL::millis();
         sum_mm = 0;
         counter = 0;

libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp

@@ -563,7 +563,7 @@ void AP_RangeFinder_VL53L1X::update(void)
 {
     WITH_SEMAPHORE(_sem);
     if (counter > 0) {
-        state.distance_cm = sum_mm / (10*counter);
+        state.distance_m = (sum_mm * 0.001f) / counter;
         state.last_reading_ms = AP_HAL::millis();
         update_status();
         sum_mm = 0;

libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp

@@ -76,7 +76,7 @@ AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
 }
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_Wasp::get_reading(uint16_t &reading_cm) {
+bool AP_RangeFinder_Wasp::get_reading(float &reading_m) {
     if (uart == nullptr) {
         return false;
     }
@@ -118,7 +118,7 @@ bool AP_RangeFinder_Wasp::get_reading(uint16_t &reading_cm) {
         return false;
     }
 
-    reading_cm = 100 * sum / count;
+    reading_m = sum / count;
     set_status(RangeFinder::Status::Good);
 
     return true;
@@ -127,7 +127,7 @@ bool AP_RangeFinder_Wasp::get_reading(uint16_t &reading_cm) {
 #define COMMAND_BUFFER_LEN 15
 
 void AP_RangeFinder_Wasp::update(void) {
-    if (!get_reading(state.distance_cm)) {
+    if (!get_reading(state.distance_m)) {
         set_status(RangeFinder::Status::NoData);
     }
 

libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h

@@ -46,7 +46,7 @@ private:
 
     wasp_configuration_stage configuration_state = WASP_CFG_PROTOCOL;
 
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     void parse_response(void);
 

libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp

@@ -111,7 +111,7 @@ void AP_RangeFinder_analog::update(void)
     if (dist_m < 0) {
         dist_m = 0;
     }
-    state.distance_cm = dist_m * 100.0f;
+    state.distance_m = dist_m;
     state.last_reading_ms = AP_HAL::millis();
 
     // update range_valid state based on distance measured

libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp

@@ -104,7 +104,7 @@ bool AP_RangeFinder_uLanding::detect_version(void)
 
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
+bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -165,10 +165,10 @@ bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
         return false;
     }
 
-    reading_cm = sum / count;
+    reading_m = (sum * 0.01f) / count;
 
     if (_version == 0 && _header != ULANDING_HDR) {
-        reading_cm *= 2.5f;
+        reading_m *= 2.5f;
     }
 
     return true;

libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h

@@ -29,7 +29,7 @@ private:
     bool detect_version(void);
 
     // get a reading
-    bool get_reading(uint16_t &reading_cm) override;
+    bool get_reading(float &reading_m) override;
 
     uint8_t  _linebuf[6];
     uint8_t  _linebuf_len;