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AP_RangeFinder: cope with beyond max range with LightwareI2C

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Andrew Tridgell 2020-04-30 18:32:20 +10:00 committed by Randy Mackay
parent e95bfc5e5f
commit fb1bd4b47f
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
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@ -23,6 +23,8 @@ extern const AP_HAL::HAL& hal;
#define LIGHTWARE_LOST_SIGNAL_TIMEOUT_WRITE_REG 23 #define LIGHTWARE_LOST_SIGNAL_TIMEOUT_WRITE_REG 23
#define LIGHTWARE_TIMEOUT_REG_DESIRED_VALUE 5 #define LIGHTWARE_TIMEOUT_REG_DESIRED_VALUE 5
#define LIGHTWARE_OUT_OF_RANGE_ADD_CM 100
static const size_t lx20_max_reply_len_bytes = 32; static const size_t lx20_max_reply_len_bytes = 32;
static const size_t lx20_max_expected_stream_reply_len_bytes = 14; static const size_t lx20_max_expected_stream_reply_len_bytes = 14;
@ -405,6 +407,17 @@ bool AP_RangeFinder_LightWareI2C::sf20_parse_stream(uint8_t *stream_buf,
(*p_num_processed_chars)++; (*p_num_processed_chars)++;
} }
/*
special case for being beyond maximum range, we receive a message like this:
ldl,1:-1.00
we will return max distance
*/
if (strncmp((const char *)&stream_buf[*p_num_processed_chars], "-1.00", 5) == 0) {
val = uint16_t(max_distance_cm() + LIGHTWARE_OUT_OF_RANGE_ADD_CM);
(*p_num_processed_chars) += 5;
return true;
}
/* Number is always returned in hundredths. So 6.33 is returned as 633. 6.3 is returned as 630. /* Number is always returned in hundredths. So 6.33 is returned as 633. 6.3 is returned as 630.
* 6 is returned as 600. * 6 is returned as 600.
* Extract number in format 6.33 or 123.99 (meters to be converted to centimeters). * Extract number in format 6.33 or 123.99 (meters to be converted to centimeters).