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RangeFinder: use new ADC interface

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the new interface gives values 8 times as large as previously
This commit is contained in:
Andrew Tridgell 2011-09-15 13:06:04 +10:00
parent 58fa51b680
commit acb4538073
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -37,8 +37,9 @@ void RangeFinder::set_orientation(int x, int y, int z)
int RangeFinder::read()
{
// read from the analog port or pitot tube
if( _ap_adc != NULL ){
raw_value = _ap_adc->Ch_raw(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2; // values from ADC are twice as big as you'd expect
if( _ap_adc != NULL ){
// values from ADC are twice as big as you'd expect
raw_value = _ap_adc->Ch(AP_RANGEFINDER_PITOT_TUBE_ADC_CHANNEL) >> 2;
}else{
// read raw sensor value and convert to distance
raw_value = analogRead(_analogPort);