mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-02 14:08:45 -04:00
AP_RangeFinder: fixed TeraRangerI2C refresh rate and status
This commit is contained in:
parent
ec1b6db83b
commit
428d4d4574
@ -105,7 +105,7 @@ bool AP_RangeFinder_TeraRangerI2C::init(void)
|
|||||||
|
|
||||||
dev->set_retries(1);
|
dev->set_retries(1);
|
||||||
|
|
||||||
dev->register_periodic_callback(50000,
|
dev->register_periodic_callback(10000,
|
||||||
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TeraRangerI2C::timer, void));
|
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_TeraRangerI2C::timer, void));
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
@ -158,7 +158,7 @@ bool AP_RangeFinder_TeraRangerI2C::process_raw_measure(uint16_t raw_distance, ui
|
|||||||
}
|
}
|
||||||
|
|
||||||
/*
|
/*
|
||||||
timer called at 20Hz
|
timer called at 100Hz, EVO sensors max freq is 100..240Hz
|
||||||
*/
|
*/
|
||||||
void AP_RangeFinder_TeraRangerI2C::timer(void)
|
void AP_RangeFinder_TeraRangerI2C::timer(void)
|
||||||
{
|
{
|
||||||
@ -191,7 +191,7 @@ void AP_RangeFinder_TeraRangerI2C::update(void)
|
|||||||
accum.sum = 0;
|
accum.sum = 0;
|
||||||
accum.count = 0;
|
accum.count = 0;
|
||||||
update_status();
|
update_status();
|
||||||
} else {
|
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
|
||||||
set_status(RangeFinder::RangeFinder_NoData);
|
set_status(RangeFinder::RangeFinder_NoData);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
Loading…
Reference in New Issue
Block a user