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AP_Frsky_Telem: allow for more than 327m range rangefinders

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Peter Barker 2024-10-11 15:13:10 +11:00 committed by Andrew Tridgell
parent 1418935c87
commit 2b2103b273
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -696,7 +696,7 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_attiandrng(void)
attiandrng |= ((uint16_t)roundf((pitch * RAD_TO_DEG * 100 + 9000) * 0.05f) & ATTIANDRNG_PITCH_LIMIT)<<ATTIANDRNG_PITCH_OFFSET;
// rangefinder measurement in cm
#if AP_RANGEFINDER_ENABLED
attiandrng |= prep_number(_rng ? _rng->distance_cm_orient(ROTATION_PITCH_270) : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
attiandrng |= prep_number(_rng ? _rng->distance_orient(ROTATION_PITCH_270)*100 : 0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
#else
attiandrng |= prep_number(0, 3, 1)<<ATTIANDRNG_RNGFND_OFFSET;
#endif