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AP_RangeFinder: remove rangefinder prearm requirements for SITL

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Getting the virtual rangefinder to move in prearm would be better, much
much more involved.
This commit is contained in:
Peter Barker 2018-10-03 09:43:50 +10:00 committed by Andrew Tridgell
parent 281fad53c2
commit 3be9f35264
2 changed files with 5 additions and 1 deletions
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4
libraries/AP_RangeFinder/RangeFinder.h
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@ -24,7 +24,11 @@
#define RANGEFINDER_MAX_INSTANCES 2
#define RANGEFINDER_GROUND_CLEARANCE_CM_DEFAULT 10
#define RANGEFINDER_PREARM_ALT_MAX_CM 200
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define RANGEFINDER_PREARM_REQUIRED_CHANGE_CM 0
#else
#define RANGEFINDER_PREARM_REQUIRED_CHANGE_CM 50
#endif
class AP_RangeFinder_Backend;

2
libraries/AP_RangeFinder/RangeFinder_Backend.cpp
View File

@ -97,7 +97,7 @@ void AP_RangeFinder_Backend::update_pre_arm_check()
state.pre_arm_distance_max = MAX(state.distance_cm, state.pre_arm_distance_max);
// Check that the range finder has been exercised through a realistic range of movement
if (((state.pre_arm_distance_max - state.pre_arm_distance_min) > RANGEFINDER_PREARM_REQUIRED_CHANGE_CM) &&
if (((state.pre_arm_distance_max - state.pre_arm_distance_min) >= RANGEFINDER_PREARM_REQUIRED_CHANGE_CM) &&
(state.pre_arm_distance_max < RANGEFINDER_PREARM_ALT_MAX_CM) &&
((int16_t)state.pre_arm_distance_min < (MAX(state.ground_clearance_cm,state.min_distance_cm) + 10)) &&
((int16_t)state.pre_arm_distance_min > (MIN(state.ground_clearance_cm,state.min_distance_cm) - 10))) {