Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 09:43:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Proximity: fix misleading variable name for TerraRangerTower

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
View File

@ -92,14 +92,14 @@ bool AP_Proximity_TeraRangerTower::read_sensor_data()
}
// 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
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)) {
boundary.set_face_attributes(face, angle_deg, ((float) distance_cm) / 1000);
if ((distance_mm != 0xffff) && !ignore_reading(angle_deg, distance_mm * 0.001f, false)) {
boundary.set_face_attributes(face, angle_deg, ((float) distance_mm) / 1000);
// update OA database
database_push(angle_deg, ((float) distance_cm) / 1000);
database_push(angle_deg, ((float) distance_mm) / 1000);
} else {
boundary.reset_face(face);
}

2
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
View File

@ -23,7 +23,7 @@ private:
// check and process replies from sensor
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
uint8_t buffer[20]; // buffer where to store data from serial

10
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
View File

@ -145,16 +145,16 @@ bool AP_Proximity_TeraRangerTowerEvo::read_sensor_data()
}
// 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
const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg);
//check for target too far, target too close and sensor not connected
const bool valid = (distance_cm != 0xffff) && (distance_cm > 0x0001);
if (valid && !ignore_reading(angle_deg, distance_cm * 0.001f, false)) {
boundary.set_face_attributes(face, angle_deg, ((float) distance_cm) / 1000);
const bool valid = (distance_mm != 0xffff) && (distance_mm > 0x0001);
if (valid && !ignore_reading(angle_deg, distance_mm * 0.001f, false)) {
boundary.set_face_attributes(face, angle_deg, ((float) distance_mm) / 1000);
// update OA database
database_push(angle_deg, ((float) distance_cm) / 1000);
database_push(angle_deg, ((float) distance_mm) / 1000);
} else {
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
void initialise_modes();
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);
enum InitState {