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AP_Periph: don't probe rangefinder continuously

This commit is contained in:
Andrew Tridgell 2020-02-22 10:07:26 +11:00
parent 41b74ec014
commit 84ac1ac41d
1 changed files with 2 additions and 0 deletions
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2
Tools/AP_Periph/can.cpp
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@ -1525,6 +1525,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
if (rangefinder.get_type(0) == RangeFinder::Type::NONE) { if (rangefinder.get_type(0) == RangeFinder::Type::NONE) {
return; return;
} }
#if CAN_PROBE_CONTINUOUS
if (rangefinder.num_sensors() == 0) { if (rangefinder.num_sensors() == 0) {
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms; static uint32_t last_probe_ms;
@ -1533,6 +1534,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
rangefinder.init(ROTATION_NONE); rangefinder.init(ROTATION_NONE);
} }
} }
#endif
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
static uint32_t last_update_ms; static uint32_t last_update_ms;
if (now - last_update_ms < 20) { if (now - last_update_ms < 20) {