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MaxsonarRFinder: convert_raw returns int16_t

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This commit is contained in:
Randy Mackay 2014-02-10 14:59:27 +09:00
parent 32820b4260
commit ab22d11110
2 changed files with 4 additions and 5 deletions
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3
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.cpp
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@ -25,7 +25,6 @@
* Sensor should be connected to one of the analog ports
*
* Variables:
* int raw_value : raw value from the sensor
* int distance : distance in cm
* int max_distance : maximum measurable distance (in cm)
* int min_distance : minimum measurable distance (in cm)
@ -48,7 +47,7 @@ AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *sourc
}
// Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int16_t sonar_type, float adc_refence_voltage)
{
float type_scaler = 1.0f;
switch(sonar_type) {

6
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarXL.h
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@ -31,10 +31,10 @@ class AP_RangeFinder_MaxsonarXL : public RangeFinder
{
public:
AP_RangeFinder_MaxsonarXL(AP_HAL::AnalogSource *source, FilterInt16 *filter);
int convert_raw_to_distance(int _raw_value) {
return _raw_value * _scaler;
int16_t convert_raw_to_distance(int16_t raw_value) {
return raw_value * _scaler;
} // read value from analog port and return distance in cm
float calculate_scaler(int sonar_type, float adc_refence_voltage);
float calculate_scaler(int16_t sonar_type, float adc_refence_voltage);
private:
float _scaler; // used to account for different sonar types