Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: benewake tfmini always provide cm distances

Browse Source 
a misunderstanding of the datasheet led to the mistaken idea that while in short-range-mode the distances were returned in millimeters
This commit is contained in:
Randy Mackay 2018-11-20 19:28:30 +09:00
parent 1428594daf
commit 6816262e3d
1 changed files with 0 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
View File

@ -121,10 +121,6 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
// this reading is out of range
count_out_of_range++;
} else if (model_type == BENEWAKE_TFmini) {
// TFmini has short distance mode (mm)
if (linebuf[6] == 0x02) {
dist *= 0.1f;
}
// no signal byte from TFmini so add distance to sum
sum_cm += dist;
count++;