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AP_RangeFinder: Benewake driver discards distances over 327m

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This commit is contained in:
Randy Mackay 2018-10-23 14:23:44 +09:00
parent 46b035419e
commit b579a36d8d
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
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@ -23,6 +23,7 @@ extern const AP_HAL::HAL& hal;
#define BENEWAKE_FRAME_HEADER 0x59 #define BENEWAKE_FRAME_HEADER 0x59
#define BENEWAKE_FRAME_LENGTH 9 #define BENEWAKE_FRAME_LENGTH 9
#define BENEWAKE_DIST_MAX_CM 32768
// format of serial packets received from benewake lidar // format of serial packets received from benewake lidar
// //
@ -112,7 +113,7 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm, bool &signal_ok)
signal_ok = true; signal_ok = true;
// calculate distance and add to sum // calculate distance and add to sum
uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2]; uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2];
if (dist != 0xFFFF) { if (dist < BENEWAKE_DIST_MAX_CM) {
// TFmini has short distance mode (mm) // TFmini has short distance mode (mm)
if (model_type == BENEWAKE_TFmini) { if (model_type == BENEWAKE_TFmini) {
if (linebuf[6] == 0x02) { if (linebuf[6] == 0x02) {