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AP_RangeFinder: Modified uLanding parse to check device version.

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US-D1 version ID was changed to 2 from 0. This alteration will prevent
past US-D1s, with version ID 0, from being 3-byte parsed.
This commit is contained in:
alancaro2013 2019-05-21 13:58:52 -05:00 committed by Andrew Tridgell
parent 19ace7cace
commit a1557184d5
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
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@ -174,7 +174,7 @@ bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
*/ */
continue; continue;
} else { } else {
if (_version == 0) { if (_version == 0 && _header != ULANDING_HDR) {
// parse data for Firmware Version #0 // parse data for Firmware Version #0
sum += (_linebuf[2]&0x7F)*128 + (_linebuf[1]&0x7F); sum += (_linebuf[2]&0x7F)*128 + (_linebuf[1]&0x7F);
count++; count++;
@ -199,7 +199,7 @@ bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
reading_cm = sum / count; reading_cm = sum / count;
if (_version == 0) { if (_version == 0 && _header != ULANDING_HDR) {
reading_cm *= 2.5f; reading_cm *= 2.5f;
} }