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AP_RangeFinder: use RNGFND_OFFSET for distance offset in PWM and I2C

This commit is contained in:
Andrew Tridgell 2015-04-04 16:06:37 -07:00
parent 55019abd71
commit 389148ac54
3 changed files with 3 additions and 2 deletions
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1
libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
View File

@ -136,6 +136,7 @@ void AP_RangeFinder_PX4::update(void)
if (count != 0) {
state.distance_cm = sum / count * 100.0f;
state.distance_cm += ranger._offset[state.instance];
}
}

2
libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
View File

@ -105,7 +105,7 @@ void AP_RangeFinder_PX4_PWM::update(void)
_last_pulse_time_ms = now;
// setup for scaling in meters per millisecond
float distance_cm = pwm.pulse_width * 0.1f * scaling;
float distance_cm = pwm.pulse_width * 0.1f * scaling + ranger._offset[state.instance];
if (distance_cm > ranger._max_distance_cm[state.instance] ||
distance_cm < ranger._min_distance_cm[state.instance]) {

2
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -44,7 +44,7 @@ const AP_Param::GroupInfo RangeFinder::var_info[] PROGMEM = {
// @Param: _OFFSET
// @DisplayName: rangefinder offset
// @Description: Offset in volts for zero distance
// @Description: Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars
// @Units: Volts
// @Increment: 0.001
AP_GROUPINFO("_OFFSET", 3, RangeFinder, _offset[0], 0.0),