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Rover: fixed sonar reset after the turn time

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thanks to Tom for finding this
This commit is contained in:
Andrew Tridgell 2013-03-29 08:08:14 +11:00
parent a25fede6bb
commit 829a000aa5
1 changed files with 9 additions and 11 deletions
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20
APMrover2/sensors.pde
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@ -70,17 +70,15 @@ static void read_sonars(void)
obstacle.detected = true;
obstacle.turn_angle = -g.sonar_turn_angle;
}
return;
}
// we have a single sonar
float sonar_dist_cm = sonar.distance_cm();
if (sonar_dist_cm <= g.sonar_trigger_cm) {
// obstacle detected in front
obstacle.detected = true;
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = g.sonar_turn_angle;
return;
} else {
// we have a single sonar
float sonar_dist_cm = sonar.distance_cm();
if (sonar_dist_cm <= g.sonar_trigger_cm) {
// obstacle detected in front
obstacle.detected = true;
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = g.sonar_turn_angle;
}
}
// no object detected - reset after the turn time