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AP_RangeFinder: use enum-class for RangeFinder function

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This commit is contained in:
Peter Barker 2019-11-01 14:06:21 +11:00 committed by Peter Barker
parent db36ef3433
commit 1989decbc1
2 changed files with 8 additions and 8 deletions
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8
libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
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@ -86,19 +86,19 @@ void AP_RangeFinder_analog::update(void)
float dist_m = 0; float dist_m = 0;
float scaling = params.scaling; float scaling = params.scaling;
float offset = params.offset; float offset = params.offset;
RangeFinder::RangeFinder_Function function = (RangeFinder::RangeFinder_Function)params.function.get(); RangeFinder::Function function = (RangeFinder::Function)params.function.get();
int16_t _max_distance_cm = params.max_distance_cm; int16_t _max_distance_cm = params.max_distance_cm;
switch (function) { switch (function) {
case RangeFinder::FUNCTION_LINEAR: case RangeFinder::Function::LINEAR:
dist_m = (v - offset) * scaling; dist_m = (v - offset) * scaling;
break; break;
case RangeFinder::FUNCTION_INVERTED: case RangeFinder::Function::INVERTED:
dist_m = (offset - v) * scaling; dist_m = (offset - v) * scaling;
break; break;
case RangeFinder::FUNCTION_HYPERBOLA: case RangeFinder::Function::HYPERBOLA:
if (v <= offset) { if (v <= offset) {
dist_m = 0; dist_m = 0;
} else { } else {

8
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -79,10 +79,10 @@ public:
BenewakeTF03 = 27, BenewakeTF03 = 27,
}; };
enum RangeFinder_Function { enum class Function {
FUNCTION_LINEAR = 0, LINEAR = 0,
FUNCTION_INVERTED = 1, INVERTED = 1,
FUNCTION_HYPERBOLA = 2 HYPERBOLA = 2
}; };
enum RangeFinder_Status { enum RangeFinder_Status {