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AP_RangeFinder: Clean TeraRanger driver

This commit is contained in:
pierre-louis.k 2018-08-03 16:41:45 +02:00 committed by Randy Mackay
parent d1937a6334
commit b0acac0f55
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
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@ -110,11 +110,10 @@ bool AP_RangeFinder_TeraRangerI2C::measure()
return dev->transfer(&cmd, 1, nullptr, 0);
}
// collect - return last value measured by sensor
// collect_raw() - return last value measured by sensor
bool AP_RangeFinder_TeraRangerI2C::collect_raw(uint16_t &raw_distance)
{
uint8_t d[3];
uint16_t distance = 0;
// Take range reading
if (!dev->transfer(nullptr, 0, d, sizeof(d))) {
@ -135,11 +134,11 @@ bool AP_RangeFinder_TeraRangerI2C::check_measure(uint16_t raw_distance, uint16_t
{
// Check for error codes
if (raw_distance == 0xFFFF) {
// too far away
// Too far away
return false;
}
if (raw_distance == 0x0000) {
// too close
// Too close
return false;
}
if (raw_distance == 0x0001) {