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AP_Proximity: make rangefinder ranges m rather than cm

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Sebastian Quilter 2021-10-18 16:45:33 +11:00 committed by Peter Barker
parent c8434fe1ed
commit 1fb1eb793f
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
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@ -47,13 +47,13 @@ void AP_Proximity_RangeFinder::update(void)
const float angle = sector * 45; const float angle = sector * 45;
const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle); const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle);
// distance in meters // distance in meters
const float distance_m = sensor->distance_cm() * 0.01f; const float distance = sensor->distance();
_distance_min = sensor->min_distance_cm() * 0.01f; _distance_min = sensor->min_distance_cm() * 0.01f;
_distance_max = sensor->max_distance_cm() * 0.01f; _distance_max = sensor->max_distance_cm() * 0.01f;
if ((distance_m <= _distance_max) && (distance_m >= _distance_min) && !check_obstacle_near_ground(angle, distance_m)) { if ((distance <= _distance_max) && (distance >= _distance_min) && !check_obstacle_near_ground(angle, distance)) {
boundary.set_face_attributes(face, angle, distance_m); boundary.set_face_attributes(face, angle, distance);
// update OA database // update OA database
database_push(angle, distance_m); database_push(angle, distance);
} else { } else {
boundary.reset_face(face); boundary.reset_face(face);
} }