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AP_RangeFinder: uLanding now uses the Lidar protocol

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uLanding was using a specific protocol in serial manager, but that's not needed and would break following work
As previously, baudrate is hardcoded
This commit is contained in:
Francisco Ferreira 2018-02-23 12:08:16 +00:00 committed by Randy Mackay
parent 972264637c
commit 5999421c72
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
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@ -21,6 +21,10 @@
#define ULANDING_HDR 254 // Header Byte from uLanding (0xFE) #define ULANDING_HDR 254 // Header Byte from uLanding (0xFE)
#define ULANDING_HDR_V0 72 // Header Byte for beta V0 of uLanding (0x48) #define ULANDING_HDR_V0 72 // Header Byte for beta V0 of uLanding (0x48)
#define ULANDING_BAUD 115200
#define ULANDING_BUFSIZE_RX 128
#define ULANDING_BUFSIZE_TX 128
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/* /*
@ -32,9 +36,9 @@ AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State
AP_SerialManager &serial_manager) : AP_SerialManager &serial_manager) :
AP_RangeFinder_Backend(_state) AP_RangeFinder_Backend(_state)
{ {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
if (uart != nullptr) { if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0)); uart->begin(ULANDING_BAUD, ULANDING_BUFSIZE_RX, ULANDING_BUFSIZE_TX);
} }
} }
@ -45,7 +49,7 @@ AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State
*/ */
bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager) bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager)
{ {
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Aerotenna_uLanding, 0) != nullptr; return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
} }
/* /*