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Rover: fixed logging of sonar distance

This commit is contained in:
Andrew Tridgell 2013-05-29 09:59:21 +10:00
parent c8316c2627
commit 1a32406f9d
1 changed files with 6 additions and 6 deletions
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12
APMrover2/sensors.pde
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@ -67,8 +67,8 @@ static void read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(PSTR("Sonar1 obstacle %.0fcm"),
obstacle.sonar1_distance_cm);
gcs_send_text_fmt(PSTR("Sonar1 obstacle %u cm"),
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = g.sonar_turn_angle;
@ -78,8 +78,8 @@ static void read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(PSTR("Sonar2 obstacle %.0fcm"),
obstacle.sonar2_distance_cm);
gcs_send_text_fmt(PSTR("Sonar2 obstacle %u cm"),
(unsigned)obstacle.sonar2_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = -g.sonar_turn_angle;
@ -94,8 +94,8 @@ static void read_sonars(void)
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(PSTR("Sonar obstacle %.0fcm"),
obstacle.sonar1_distance_cm);
gcs_send_text_fmt(PSTR("Sonar obstacle %u cm"),
(unsigned)obstacle.sonar1_distance_cm);
}
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = g.sonar_turn_angle;