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AP_RangeFinder: TFMiniPlus: respect max configured via param 

Do like other drivers do and cap the maximum reported value with what is
configured in the parameter.
This commit is contained in:
Lucas De Marchi 2020-09-28 17:49:17 -07:00 committed by Andrew Tridgell
parent 0e63a833e9
commit 4be9b4171b
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
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@ -23,6 +23,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define DRIVER "TFMiniPlus" #define DRIVER "TFMiniPlus"
#define BENEWAKE_OUT_OF_RANGE_ADD_CM 100
/* /*
* Command format: * Command format:
@ -165,10 +166,10 @@ void AP_RangeFinder_Benewake_TFMiniPlus::process_raw_measure(le16_t distance_raw
* value to 0." - force it to the max distance so status is set to OutOfRangeHigh * value to 0." - force it to the max distance so status is set to OutOfRangeHigh
* rather than NoData. * rather than NoData.
*/ */
output_distance_cm = MAX_DIST_CM; output_distance_cm = MAX(MAX_DIST_CM, max_distance_cm() + BENEWAKE_OUT_OF_RANGE_ADD_CM);
} } else {
output_distance_cm = constrain_int16(output_distance_cm, MIN_DIST_CM, MAX_DIST_CM); output_distance_cm = constrain_int16(output_distance_cm, MIN_DIST_CM, MAX_DIST_CM);
}
} }
bool AP_RangeFinder_Benewake_TFMiniPlus::check_checksum(uint8_t *arr, int pkt_len) bool AP_RangeFinder_Benewake_TFMiniPlus::check_checksum(uint8_t *arr, int pkt_len)