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AP_RangeFinder: populate last_reading_ms in the backend for some sensors

This commit is contained in:
rishabsingh3003 2024-07-23 09:56:21 -04:00
parent 230269bed8
commit 28e472f6d2
3 changed files with 4 additions and 3 deletions
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4
libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp
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@ -99,7 +99,7 @@ void AP_RangeFinder_HC_SR04::update(void)
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (value_us == 0) { if (value_us == 0) {
// no reading; check for timeout: // no reading; check for timeout:
if (now - last_reading_ms > 1000) { if (now - state.last_reading_ms > 1000) {
// no reading for a second - something is broken // no reading for a second - something is broken
state.distance_m = 0.0f; state.distance_m = 0.0f;
} }
@ -125,7 +125,7 @@ void AP_RangeFinder_HC_SR04::update(void)
glitch_count = 0; glitch_count = 0;
} }
last_reading_ms = now; state.last_reading_ms = now;
} }
// update range_valid state based on distance measured // update range_valid state based on distance measured

1
libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
View File

@ -34,7 +34,6 @@ private:
void check_trigger_pin(); void check_trigger_pin();
int8_t trigger_pin; int8_t trigger_pin;
uint32_t last_reading_ms; // system time of last read (used for health reporting)
float last_distance_m; // 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 uint8_t glitch_count; // glitch counter

2
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
View File

@ -468,6 +468,7 @@ void AP_RangeFinder_LightWareI2C::legacy_timer(void)
if (legacy_get_reading(state.distance_m)) { if (legacy_get_reading(state.distance_m)) {
// update range_valid state based on distance measured // update range_valid state based on distance measured
update_status(); update_status();
state.last_reading_ms = AP_HAL::millis();
} else { } else {
set_status(RangeFinder::Status::NoData); set_status(RangeFinder::Status::NoData);
} }
@ -478,6 +479,7 @@ void AP_RangeFinder_LightWareI2C::sf20_timer(void)
if (sf20_get_reading(state.distance_m)) { if (sf20_get_reading(state.distance_m)) {
// update range_valid state based on distance measured // update range_valid state based on distance measured
update_status(); update_status();
state.last_reading_ms = AP_HAL::millis();
} else { } else {
set_status(RangeFinder::Status::NoData); set_status(RangeFinder::Status::NoData);
} }