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AP_Proximity: fix misleading variable name for TerraRangerTower

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This commit is contained in:
Mirko Denecke 2022-05-10 14:17:20 +02:00 committed by Randy Mackay
parent f91ea8a0dd
commit e52ca87cbc
4 changed files with 11 additions and 11 deletions
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8
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
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@ -92,14 +92,14 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data()
} }
// process reply // process reply
void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_t distance_cm) void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_t distance_mm)
{ {
// Get location on 3-D boundary based on angle to the object // Get location on 3-D boundary based on angle to the object
const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg); const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg);
if ((distance_cm != 0xffff) && !ignore_reading(angle_deg, distance_cm * 0.001f, false)) { if ((distance_mm != 0xffff) && !ignore_reading(angle_deg, distance_mm * 0.001f, false)) {
boundary.set_face_attributes(face, angle_deg, ((float) distance_cm) / 1000); boundary.set_face_attributes(face, angle_deg, ((float) distance_mm) / 1000);
// update OA database // update OA database
database_push(angle_deg, ((float) distance_cm) / 1000); database_push(angle_deg, ((float) distance_mm) / 1000);
} else { } else {
boundary.reset_face(face); boundary.reset_face(face);
} }

2
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
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@ -23,7 +23,7 @@ private:
// check and process replies from sensor // check and process replies from sensor
bool read_sensor_data(); bool read_sensor_data();
void update_sector_data(int16_t angle_deg, uint16_t distance_cm); void update_sector_data(int16_t angle_deg, uint16_t distance_mm);
// reply related variables // reply related variables
uint8_t buffer[20]; // buffer where to store data from serial uint8_t buffer[20]; // buffer where to store data from serial

10
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
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@ -145,16 +145,16 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
} }
// process reply // process reply
void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_cm) void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint16_t distance_mm)
{ {
// Get location on 3-D boundary based on angle to the object // Get location on 3-D boundary based on angle to the object
const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg); const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg);
//check for target too far, target too close and sensor not connected //check for target too far, target too close and sensor not connected
const bool valid = (distance_cm != 0xffff) && (distance_cm > 0x0001); const bool valid = (distance_mm != 0xffff) && (distance_mm > 0x0001);
if (valid && !ignore_reading(angle_deg, distance_cm * 0.001f, false)) { if (valid && !ignore_reading(angle_deg, distance_mm * 0.001f, false)) {
boundary.set_face_attributes(face, angle_deg, ((float) distance_cm) / 1000); boundary.set_face_attributes(face, angle_deg, ((float) distance_mm) / 1000);
// update OA database // update OA database
database_push(angle_deg, ((float) distance_cm) / 1000); database_push(angle_deg, ((float) distance_mm) / 1000);
} else { } else {
boundary.reset_face(face); boundary.reset_face(face);
} }

2
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
View File

@ -25,7 +25,7 @@ private:
// check and process replies from sensor // check and process replies from sensor
void initialise_modes(); void initialise_modes();
bool read_sensor_data(); bool read_sensor_data();
void update_sector_data(int16_t angle_deg, uint16_t distance_cm); void update_sector_data(int16_t angle_deg, uint16_t distance_mm);
void set_mode(const uint8_t *c, int length); void set_mode(const uint8_t *c, int length);
enum InitState { enum InitState {