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Copter: Fix RangeFinder init

This commit is contained in:
Michael du Breuil 2019-04-05 02:14:36 -07:00 committed by Peter Barker
parent 8cf7c47f96
commit d1246f5868
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/Copter.h
View File

@ -237,7 +237,7 @@ private:
Compass compass;
AP_InertialSensor ins;
RangeFinder rangefinder{serial_manager, ROTATION_PITCH_270};
RangeFinder rangefinder{serial_manager};
struct {
bool enabled:1;
bool alt_healthy:1; // true if we can trust the altitude from the rangefinder

2
ArduCopter/sensors.cpp
View File

@ -13,7 +13,7 @@ void Copter::read_barometer(void)
void Copter::init_rangefinder(void)
{
#if RANGEFINDER_ENABLED == ENABLED
rangefinder.init();
rangefinder.init(ROTATION_PITCH_270);
rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
#endif