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AP_Rangefinder: fixed scaling on PWM driver and enable SCALING parameter

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this fixes a bug introduced here:

  https://github.com/ArduPilot/ardupilot/pull/18829

and allows the scaling of PWM rangefinders to be adjusted
This commit is contained in:
Andrew Tridgell 2022-06-16 18:11:26 +10:00
parent b44478217f
commit d6c5b7a8ad
1 changed files with 4 additions and 1 deletions
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libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
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@ -29,6 +29,8 @@ AP_RangeFinder_PWM::AP_RangeFinder_PWM(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Backend(_state, _params), AP_RangeFinder_Backend(_state, _params),
estimated_terrain_height(_estimated_terrain_height) estimated_terrain_height(_estimated_terrain_height)
{ {
// this gives one mm per us
params.scaling.set_default(1.0);
} }
/* /*
@ -47,7 +49,8 @@ bool AP_RangeFinder_PWM::get_reading(float &reading_m)
return false; return false;
} }
reading_m = value_us * 10.0f; // correct for LidarLite. Parameter needed? Converts from decimetres -> m here // LidarLite uses one mm per us
reading_m = value_us * 0.001 * params.scaling;
return true; return true;
} }