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AP_RangeFinder: Make measurement time and call back time static constant 

Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
This commit is contained in:
murata 2018-12-22 08:50:23 +09:00 committed by Andrew Tridgell
parent 69fab70582
commit 282590668d
1 changed files with 5 additions and 3 deletions
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8
libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
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@ -28,6 +28,8 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
static const uint8_t MEASUREMENT_TIME_MS = 50; // Start continuous readings at a rate of one measurement every 50 ms
AP_RangeFinder_VL53L1X::AP_RangeFinder_VL53L1X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev) AP_RangeFinder_VL53L1X::AP_RangeFinder_VL53L1X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
: AP_RangeFinder_Backend(_state, _params) : AP_RangeFinder_Backend(_state, _params)
, dev(std::move(_dev)) {} , dev(std::move(_dev)) {}
@ -157,13 +159,13 @@ bool AP_RangeFinder_VL53L1X::init(DistanceMode mode)
// measurement is started; assumes MM1 and MM2 are disabled // measurement is started; assumes MM1 and MM2 are disabled
write_register16(ALGO__PART_TO_PART_RANGE_OFFSET_MM, mm_config_outer_offset_mm * 4) && write_register16(ALGO__PART_TO_PART_RANGE_OFFSET_MM, mm_config_outer_offset_mm * 4) &&
// set continuous mode // set continuous mode
startContinuous(50) startContinuous(MEASUREMENT_TIME_MS)
)) { )) {
return false; return false;
} }
// call timer() every 50ms. We expect new data to be available every 50ms // call timer() every MEASUREMENT_TIME_MS. We expect new data to be available every MEASUREMENT_TIME_MS
dev->register_periodic_callback(50000, dev->register_periodic_callback(MEASUREMENT_TIME_MS * 1000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_VL53L1X::timer, void)); FUNCTOR_BIND_MEMBER(&AP_RangeFinder_VL53L1X::timer, void));
return true; return true;