mirror of https://github.com/ArduPilot/ardupilot
AP_RangeFinder: cope with beyond max range with LightwareI2C
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@ -23,6 +23,8 @@ extern const AP_HAL::HAL& hal;
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#define LIGHTWARE_LOST_SIGNAL_TIMEOUT_WRITE_REG 23
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#define LIGHTWARE_TIMEOUT_REG_DESIRED_VALUE 5
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#define LIGHTWARE_OUT_OF_RANGE_ADD_CM 100
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static const size_t lx20_max_reply_len_bytes = 32;
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static const size_t lx20_max_expected_stream_reply_len_bytes = 14;
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@ -405,6 +407,17 @@ bool AP_RangeFinder_LightWareI2C::sf20_parse_stream(uint8_t *stream_buf,
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(*p_num_processed_chars)++;
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}
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/*
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special case for being beyond maximum range, we receive a message like this:
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ldl,1:-1.00
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we will return max distance
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*/
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if (strncmp((const char *)&stream_buf[*p_num_processed_chars], "-1.00", 5) == 0) {
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val = uint16_t(max_distance_cm() + LIGHTWARE_OUT_OF_RANGE_ADD_CM);
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(*p_num_processed_chars) += 5;
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return true;
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}
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/* Number is always returned in hundredths. So 6.33 is returned as 633. 6.3 is returned as 630.
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* 6 is returned as 600.
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* Extract number in format 6.33 or 123.99 (meters to be converted to centimeters).
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