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AP_RangeFinder: benewake logic reordering

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this should be a non-functional change
This commit is contained in:
Randy Mackay 2018-11-08 21:34:35 +09:00
parent a09cd8411d
commit 35be68348d
1 changed files with 17 additions and 19 deletions
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36
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
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@ -109,31 +109,29 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
} }
// if checksum matches extract contents // if checksum matches extract contents
if ((uint8_t)(checksum & 0xFF) == linebuf[BENEWAKE_FRAME_LENGTH-1]) { if ((uint8_t)(checksum & 0xFF) == linebuf[BENEWAKE_FRAME_LENGTH-1]) {
// calculate distance and add to sum // calculate distance
uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2]; uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2];
if (dist < BENEWAKE_DIST_MAX_CM) { if (dist >= BENEWAKE_DIST_MAX_CM) {
// this reading is out of range
count_out_of_range++;
} else if (model_type == BENEWAKE_TFmini) {
// TFmini has short distance mode (mm) // TFmini has short distance mode (mm)
if (model_type == BENEWAKE_TFmini) { if (linebuf[6] == 0x02) {
if (linebuf[6] == 0x02) { dist *= 0.1f;
dist *= 0.1f; }
} // no signal byte from TFmini so add distance to sum
// no signal byte from TFmini so add distance to sum sum_cm += dist;
count++;
} else {
// TF02 provides signal reliability (good = 7 or 8)
if (linebuf[6] >= 7) {
// add distance to sum
sum_cm += dist; sum_cm += dist;
count++; count++;
} else { } else {
// TF02 provides signal reliability (good = 7 or 8) // this reading is out of range
if (linebuf[6] >= 7) { count_out_of_range++;
// add distance to sum
sum_cm += dist;
count++;
} else {
// this reading is out of range
count_out_of_range++;
}
} }
} else {
// this reading is out of range
count_out_of_range++;
} }
} }
// clear buffer // clear buffer