Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: Move to a process that uses maximum value acquisition

This commit is contained in:
muramura 2023-11-15 23:26:11 +09:00 committed by Tom Pittenger
parent ac16f10ecd
commit 8c27d81c6a
1 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp
View File

@ -53,8 +53,6 @@ bool AP_RangeFinder_JRE_Serial::get_reading(float &reading_m)
uint16_t valid_count = 0; // number of valid readings
uint16_t invalid_count = 0; // number of invalid readings
float sum = 0;
// max distance the sensor can reliably measure - read from parameters
const int16_t distance_cm_max = max_distance_cm();
// read a maximum of 8192 bytes per call to this function:
uint16_t bytes_available = MIN(uart->available(), 8192U);
@ -136,7 +134,7 @@ bool AP_RangeFinder_JRE_Serial::get_reading(float &reading_m)
// all readings were invalid so return out-of-range-high value
if (invalid_count > 0) {
no_signal = true;
reading_m = MIN(MAX(DIST_MAX_CM, distance_cm_max + OUT_OF_RANGE_ADD_CM), UINT16_MAX) * 0.01f;
reading_m = MIN(MAX(DIST_MAX_CM, max_distance_cm() + OUT_OF_RANGE_ADD_CM), UINT16_MAX) * 0.01f;
return true;
}