Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-02 19:53:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RangeFinder: setup for split I2C transfers

Browse Source 
this fixes PulsedLight Lidar on Linux
This commit is contained in:
Andrew Tridgell 2016-12-09 12:58:57 +11:00 committed by Lucas De Marchi
parent a2e445cf24
commit df1da3c14e
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
View File

@ -147,6 +147,9 @@ bool AP_RangeFinder_PulsedLightLRF::init(void)
}
_dev->set_retries(3);
// LidarLite needs split transfers
_dev->set_split_transfers(true);
if (!(_dev->read_registers(LL40LS_HW_VERSION, &hw_version, 1) &&
hw_version > 0 &&
_dev->read_registers(LL40LS_SW_VERSION, &sw_version, 1) &&