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AP_RangeFinder: cleanup variable names in uLanding driver

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This commit is contained in:
davidaroyer 2017-09-15 12:05:20 -05:00 committed by Andrew Tridgell
parent 039b295c66
commit e5154abc38
2 changed files with 22 additions and 22 deletions
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26
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
View File

@ -155,35 +155,35 @@ bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
if ((c == _header) && !hdr_found) {
// located header byte
linebuf_len = 0;
_linebuf_len = 0;
hdr_found = true;
}
// decode index information
if (hdr_found) {
linebuf[linebuf_len++] = c;
_linebuf[_linebuf_len++] = c;
/* don't process linebuf until we've collected six bytes of data
if ((_linebuf_len < (sizeof(_linebuf)/sizeof(_linebuf[0]))) ||
(_version == 0 && _linebuf_len < 3)) {
/* don't process _linebuf until we've collected six bytes of data
* (or 3 bytes for Version 0 firmware)
*/
if ((linebuf_len < (sizeof(linebuf)/sizeof(linebuf[0]))) ||
(_version == 0 && linebuf_len < 3)) {
continue;
} else {
if (_version == 0) {
// parse data from Firmware Version #0
sum += (linebuf[2]&0x7F)*128 + (linebuf[1]&0x7F);
// parse data for Firmware Version #0
sum += (_linebuf[2]&0x7F)*128 + (_linebuf[1]&0x7F);
count++;
} else {
// evaluate checksum
if (((linebuf[1] + linebuf[2] + linebuf[3] + linebuf[4]) & 0xFF) == linebuf[5]) {
// if checksum passed, parse data from Firmware Version #1
sum += linebuf[3]*256 + linebuf[2];
if (((_linebuf[1] + _linebuf[2] + _linebuf[3] + _linebuf[4]) & 0xFF) == _linebuf[5]) {
// if checksum passed, parse data for Firmware Version #1
sum += _linebuf[3]*256 + _linebuf[2];
count++;
}
}
hdr_found = false;
linebuf_len = 0;
_linebuf_len = 0;
}
}
}
@ -208,9 +208,9 @@ void AP_RangeFinder_uLanding::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
last_reading_ms = AP_HAL::millis();
_last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - last_reading_ms > 200) {
} else if (AP_HAL::millis() - _last_reading_ms > 200) {
set_status(RangeFinder::RangeFinder_NoData);
}
}

8
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
View File

@ -24,10 +24,10 @@ private:
// get a reading
bool get_reading(uint16_t &reading_cm);
AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_reading_ms = 0;
uint8_t linebuf[6];
uint8_t linebuf_len = 0;
AP_HAL::UARTDriver *uart;
uint8_t _linebuf[6];
uint8_t _linebuf_len;
uint32_t _last_reading_ms;
bool _version_known;
uint8_t _header;
uint8_t _version;