From bf274cd9dbb072acea427687a6740bed1e949c77 Mon Sep 17 00:00:00 2001 From: "pierre-louis.k" Date: Wed, 25 Jul 2018 10:57:14 +0200 Subject: [PATCH] AP_Proximity: Change min and max range to support both 60m and 600Hz --- .../AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp index 53a35122be..0d51a90fd1 100644 --- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp +++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp @@ -74,11 +74,11 @@ void AP_Proximity_TeraRangerTowerEvo::update(void) // get maximum and minimum distances (in meters) of primary sensor float AP_Proximity_TeraRangerTowerEvo::distance_max() const { - return 8.0f; + return 60.0f; } float AP_Proximity_TeraRangerTowerEvo::distance_min() const { - return 0.75f; + return 0.50f; } void AP_Proximity_TeraRangerTowerEvo::initialise_modes() @@ -136,7 +136,7 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data() break; } } - + while (nbytes-- > 0) { char c = uart->read(); if (c == 'T' ) { @@ -147,10 +147,10 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data() // we should always read 19 bytes THxxxxxxxxxxxxxxxxMC if (buffer_count >= 20){ buffer_count = 0; - + //check if message has right CRC if (crc_crc8(buffer, 19) == buffer[19]){ - + uint16_t d1 = process_distance(buffer[2], buffer[3]); uint16_t d2 = process_distance(buffer[4], buffer[5]); uint16_t d3 = process_distance(buffer[6], buffer[7]); @@ -188,7 +188,7 @@ void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint if (convert_angle_to_sector(angle_deg, sector)) { _angle[sector] = angle_deg; _distance[sector] = ((float) distance_cm) / 1000; - + //check for target too far, target too close and sensor not connected _distance_valid[sector] = distance_cm != 0xffff && distance_cm != 0x0000 && distance_cm != 0x0001; _last_distance_received_ms = AP_HAL::millis();