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AP_RangeFinder: MAV only accepts DISTANCE_SENSOR with orient 25

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25 is  MAV_SENSOR_ROTATION_PITCH_270 meaning downward facing
This commit is contained in:
Randy Mackay 2016-12-23 15:02:36 +09:00
parent 653030b038
commit 8215b92371
1 changed files with 5 additions and 2 deletions
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3
libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
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@ -51,9 +51,12 @@ void AP_RangeFinder_MAVLink::handle_msg(mavlink_message_t *msg)
mavlink_distance_sensor_t packet; mavlink_distance_sensor_t packet;
mavlink_msg_distance_sensor_decode(msg, &packet); mavlink_msg_distance_sensor_decode(msg, &packet);
// only accept distances for downward facing sensors
if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) {
last_update_ms = AP_HAL::millis(); last_update_ms = AP_HAL::millis();
distance_cm = packet.current_distance; distance_cm = packet.current_distance;
} }
}
/* /*
update the state of the sensor update the state of the sensor