From 6febbcdc138871e7670a8d26374e46039a972944 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Feb 2020 13:13:36 +1100
Subject: [PATCH] AP_RangeFinder: remove incorrect and misleading comment

Wrong on several counts.  detect calls this method.  The constructor
doesn't initialise the rangefinder.  detect doesn't return boolean.
---
 libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp   | 5 -----
 libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp  | 5 -----
 libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp | 5 -----
 libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp  | 5 -----
 libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp        | 5 -----
 libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp        | 5 -----
 6 files changed, 30 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
index f953def399..02b850c116 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
@@ -56,11 +56,6 @@ static const uint8_t streamSequence[] = { 0 }; // List of 0 based stream Ids tha
 
 static const uint8_t numStreamSequenceIndexes = sizeof(streamSequence)/sizeof(streamSequence[0]);
 
-/*
-   The constructor also initializes the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
 AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder::RangeFinder_State &_state,
         AP_RangeFinder_Params &_params,
         AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index 1a1b81706d..d4812776ae 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -30,11 +30,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-/*
-   The constructor also initializes the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
 AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
                                                            AP_RangeFinder_Params &_params,
                                                            AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
index bc870c0282..cf500a6bb0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
@@ -40,11 +40,6 @@ extern const AP_HAL::HAL& hal;
 // i2c address
 #define LL40LS_ADDR   0x62
 
-/*
-   The constructor also initializes the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
 AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(uint8_t bus,
                                                              RangeFinder::RangeFinder_State &_state,
                                                              AP_RangeFinder_Params &_params,
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index 911823e5bb..4509c07e46 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -28,11 +28,6 @@ extern const AP_HAL::HAL& hal;
 #define TR_WHOAMI  0x01
 #define TR_WHOAMI_VALUE 0xA1
 
-/*
-   The constructor also initializes the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
 AP_RangeFinder_TeraRangerI2C::AP_RangeFinder_TeraRangerI2C(RangeFinder::RangeFinder_State &_state,
                                                            AP_RangeFinder_Params &_params,
                                                            AP_HAL::OwnPtr<AP_HAL::I2CDevice> i2c_dev)
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
index d0382c764b..4bd032d4b4 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
@@ -211,11 +211,6 @@ const AP_RangeFinder_VL53L0X::RegData AP_RangeFinder_VL53L0X::tuning_data[] =
     { 0x80, 0x00 },
 };
 
-/*
-   The constructor also initializes the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
 AP_RangeFinder_VL53L0X::AP_RangeFinder_VL53L0X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
     : AP_RangeFinder_Backend(_state, _params)
     , dev(std::move(_dev)) {}
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
index df3f3a6c6a..7b218c1707 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
@@ -28,11 +28,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-/*
-   The constructor also initializes the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
 AP_RangeFinder_VL53L1X::AP_RangeFinder_VL53L1X(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev)
     : AP_RangeFinder_Backend(_state, _params)
     , dev(std::move(_dev)) {}