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AP_Rangefinder: Use default address for TFMiniPlus I2C unless configured 

This fixes the issue #13419. If RNGFNDx_ADDR is not configured, it uses default address for TFmini i2c
This commit is contained in:
Shiv Tyagi 2021-10-23 13:22:21 +05:30 committed by Andrew Tridgell
parent 04ba26a080
commit e1a528213d
2 changed files with 9 additions and 2 deletions
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9
libraries/AP_RangeFinder/AP_RangeFinder.cpp
View File

@ -414,15 +414,20 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
} }
} }
break; break;
case Type::BenewakeTFminiPlus: case Type::BenewakeTFminiPlus: {
uint8_t addr = TFMINI_ADDR_DEFAULT;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) { FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_Benewake_TFMiniPlus::detect(state[instance], params[instance], if (_add_backend(AP_RangeFinder_Benewake_TFMiniPlus::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, params[instance].address)), hal.i2c_mgr->get_device(i, addr)),
instance)) { instance)) {
break; break;
} }
} }
break; break;
}
case Type::PX4_PWM: case Type::PX4_PWM:
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH

2
libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
View File

@ -2,6 +2,8 @@
#include "AP_RangeFinder_Benewake.h" #include "AP_RangeFinder_Benewake.h"
#define TFMINI_ADDR_DEFAULT 0x10 // TFMini default device id
class AP_RangeFinder_Benewake_TFMini : public AP_RangeFinder_Benewake class AP_RangeFinder_Benewake_TFMini : public AP_RangeFinder_Benewake
{ {
public: public: