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RangeFinder_I2C: fixed bug with interchanged min max values

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- add usage of mode-filter and min-max constrain, similar to MaxsonarXL
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Christopher Hrabia 2013-02-28 18:45:35 +08:00 committed by rmackay9
parent 9760cdf2d7
commit 744f610409
1 changed files with 8 additions and 3 deletions
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11
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
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@ -34,8 +34,8 @@ AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL( FilterInt16 *filter
healthy(true),
_addr(AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)
{
max_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MIN_DISTANCE;
min_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MAX_DISTANCE;
min_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MIN_DISTANCE;
max_distance = AP_RANGE_FINDER_MAXSONARI2CXL_MAX_DISTANCE;
}
// Public Methods //////////////////////////////////////////////////////////////
@ -69,6 +69,11 @@ int AP_RangeFinder_MaxsonarI2CXL::read()
ret_value = buff[0] << 8 | buff[1];
healthy = true;
}
// ensure distance is within min and max
ret_value = constrain(ret_value, min_distance, max_distance);
ret_value = _mode_filter->apply(ret_value);
return ret_value;
}