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AP_RangeFinder: Rework function structure in TeraRanger driver

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pierre-louis.k 2018-08-03 16:42:34 +02:00 committed by Randy Mackay
parent b6f1647c31
commit 5577b8b33c
1 changed files with 5 additions and 6 deletions
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11
libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
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@ -137,17 +137,16 @@ bool AP_RangeFinder_TeraRangerI2C::process_raw_measure(uint16_t raw_distance, ui
if (raw_distance == 0xFFFF) { if (raw_distance == 0xFFFF) {
// Too far away // Too far away
return false; return false;
} } else if (raw_distance == 0x0000) {
if (raw_distance == 0x0000) {
// Too close // Too close
return false; return false;
} } else if (raw_distance == 0x0001) {
if (raw_distance == 0x0001) {
// Unable to measure // Unable to measure
return false; return false;
} } else {
output_distance_cm = raw_distance/10; output_distance_cm = raw_distance/10; // Conversion to centimeters
return true; return true;
}
} }
/* /*