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452 Commits

Author SHA1 Message Date
Peter Barker b0c65b9014 AP_RangeFinder_PWM: correct integer division issue 2019-02-20 17:50:46 +11:00
Andrew Tridgell bf4dc2d3b7 AP_RangeFinder: probe all I2C buses for rangefinders 
we now have flight boards with up to 4 I2C buses, and probing only 2
of them causes user confusion
 2019-02-12 13:07:24 +11:00
Randy Mackay a72477590f AP_RangeFinder: format fixes 2019-02-04 11:32:13 +09:00
Dmitri Ranfft f8af5afc53 RangeFinder: Removed the 3 bit limitation for the enumeration 2019-02-04 11:08:50 +09:00
Dmitri Ranfft 5eff01a86f RangeFinder: allow up to 10 range finders to be used at once 2019-02-04 11:08:47 +09:00
Peter Barker d71244dd23 APM_RangeFinder: remove PX4 backend type 2019-01-17 12:30:56 +11:00
Peter Barker f037629fc3 RangeFinder: understand stop pin for AP_RangeFinder_PWM backend 2019-01-10 16:28:14 +11:00
Julien Beraud e165e9c323 AP_RangeFinder: fix bebop rangefinder 
Fix Backend constructor call
 2018-12-22 08:44:50 +09:00
Nghia Nguyen 60250e4c49 AP_Rangefinder: Add support for ST VL53L1X 2018-12-17 14:00:31 +09:00
Randy Mackay fbf072d84b AP_RangeFinder: add range to POS param description 2018-12-13 20:14:05 +09:00
Michael du Breuil 52d6353e33 AP_Rangefinder: Remove unused members 2018-11-27 07:36:17 +11:00
Randy Mackay 6816262e3d AP_RangeFinder: benewake tfmini always provide cm distances 
a misunderstanding of the datasheet led to the mistaken idea that while in short-range-mode the distances were returned in millimeters
 2018-11-21 08:38:31 +09:00
Randy Mackay f5a9fdaf42 RangeFinder: benewake buffer uses uint8_t 2018-11-19 11:33:48 +09:00
Randy Mackay e9c1abfc3c AP_RangeFinder: fix benewake checksum check 2018-11-15 09:18:45 +09:00
Randy Mackay 123e10c058 AP_RangeFinder: benewake returns at least 12m or 22m when out-of-range 
value logged and shown to the user will be at least 12m for TFmini or 22m for TF02 which ensure the user won't see the range drop even if they have configured a very short useable distance
 2018-11-15 09:18:45 +09:00
Randy Mackay 35be68348d AP_RangeFinder: benewake logic reordering 
this should be a non-functional change
 2018-11-10 12:20:27 +09:00
Randy Mackay a09cd8411d AP_RangeFinder: benewake lidar returns max range + 1m when out-of-range 
also returns out-of-range when signal is weak
 2018-11-10 12:20:27 +09:00
Peter Barker c2b334eaad AP_RangeFinder: PWM: take an average of any readings accumulated in irq 2018-11-08 21:03:35 +11:00
Andrew Tridgell 76a2cd1540 AP_RangeFinder: set pin to input before attaching interrupt 
this fixes input on AUX6 on CubeBlack
 2018-11-08 18:25:14 +11:00
Peter Barker 94e0485bdf AP_RangeFinder: add override keyword where required 2018-11-08 11:30:12 +11:00
Peter Barker 6e84a31613 AP_RangeFinder: use new ChibiOS driver if user attempts to use PX4 PWM driver 2018-11-07 08:59:19 +11:00
Peter Barker 186ce80827 AP_RangeFinder: add pwm backend 2018-11-07 08:59:19 +11:00
Randy Mackay 7fdd0bd996 AP_RangeFinder: Benewake driver discards distances over 327m 2018-11-06 11:58:32 +11:00
murata c8f93a3ddc RangeFinder: Added statement FALLTHROUGH 2018-10-30 09:13:29 +09:00
Nghia Nguyen 513eb1f5db AP_Rangefinder: Add support for Garmin LidarLite-V3HP 2018-10-27 11:22:57 +01:00
Randy Mackay 82a28dc0fc AP_RangeFinder: check I2C dev during detect 2018-10-26 13:33:27 +09:00
Andrew Tridgell b1e4434332 AP_RangeFinder: use WITH_SEMAPHORE() 
and removed usage of hal.util->new_semaphore()
 2018-10-17 12:54:22 +11:00
Peter Barker 3be9f35264 AP_RangeFinder: remove rangefinder prearm requirements for SITL 
Getting the virtual rangefinder to move in prearm would be better, much
much more involved.
 2018-10-09 10:47:38 +11:00
Randy Mackay 3e8d9f4131 RangeFinder: shorten comment 2018-08-28 09:23:38 +09:00
Randy Mackay 1b0f0a7559 AP_RangeFinder: support last_reading_ms 
Benewake, LeddarOne, LightWareSerial, MAVLink, MaxsonarI2CXL, MaxsonarSerialLV, NMEA, PX4_PWM, uLanding and Wasp already stored the last read time so for these drivers, this change just moves that storage to the state structure
analog, BBB_PRU, Bebop, LightWareI2C, PulsedLightLRF, TeraRangerI2C, VL53L0X did not store the last read time so this was added
 2018-08-28 09:23:38 +09:00
Randy Mackay 9e27b93538 AP_RangeFinder: move some backend implementations to cpp file 2018-08-28 09:23:38 +09:00
Randy Mackay 9a7b378ddd AP_RangeFinder: minor format change 
lines up with parameter variables below
 2018-08-28 09:23:38 +09:00
pierre-louis.k e62ed19759 AP_RangeFinder: Remove range enforcement on out of range 2018-08-27 10:25:51 +09:00
pierre-louis.k 5577b8b33c AP_RangeFinder: Rework function structure in TeraRanger driver 2018-08-27 10:25:49 +09:00
pierre-louis.k b6f1647c31 AP_RangeFinder: Rename function in TeraRanger driver 2018-08-27 10:25:47 +09:00
pierre-louis.k 1b990c116d AP_RangeFinder: Give back semaphore on whoami error 2018-08-27 10:25:45 +09:00
pierre-louis.k 4d45b68fa3 AP_RangeFinder: Clean TeraRanger driver 2018-08-27 10:25:43 +09:00
pierre-louis.k d162afb790 AP_RangeFinder: Add error codes rejection for TeraRanger sensors 2018-08-27 10:25:41 +09:00
Michael du Breuil f0a4059d73 AP_Rangefinder: Remove APM doc references 2018-08-01 09:24:26 +10:00
Andrew Tridgell a8647f834e AP_RangeFinder: fixed VL53L0X semaphore usage 2018-07-27 09:15:32 +10:00
Patrick José Pereira 32fa7e2c2a AP_RangeFilter: Fix equality comparison with extraneous parentheses 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-27 14:59:33 -07:00
Michael du Breuil fb99ea0446 AP_Rangefinder: Update WASP defaults 2018-06-01 15:08:35 +09:00
Randy Mackay 99cf279dff AP_RangeFinder: remove unused definitions from MaxSonarI2C 2018-06-01 15:06:13 +09:00
Randy Mackay 98e87db274 AP_RangeFinder: MaxsonarI2C reports no data after 300ms 2018-06-01 15:04:40 +09:00
Randy Mackay e520d4fe42 AP_RangeFinder: Benewake TF02 and TFmini lidar driver 2018-05-30 11:16:35 +09:00
Michael du Breuil b2d8f6e788 AP_Rangefinder: Fix bad fallthrough from NMEA driver 2018-05-29 00:10:40 +01:00
Andrew Tridgell 08228efc72 AP_Rangefinder: fixed param docs for Wasp backend 2018-05-28 11:44:29 +01:00
Andrew Tridgell 3b8d5ea4cf AP_Rangefinder: fixed param handling for Wasp backends 2018-05-28 11:44:29 +01:00
Michael du Breuil b678302aed AP_Rangefinder: Add WASP 200 LRF backend 2018-05-28 11:44:29 +01:00
Randy Mackay 85efab1ec8 AP_RangeFinder: reduce MaxsonarI2C update to 10hz 2018-05-24 13:37:03 +09:00
Randy Mackay fd2e5741ce AP_RangeFinder: MaxsonarI2C formatting fixes 2018-05-24 13:37:00 +09:00
Randy Mackay 3f749051d3 AP_RangeFinder: NMEA sonar driver 2018-05-24 12:46:38 +09:00
Michael du Breuil 7d6c3ec683 AP_RangeFinder: Make singleton 2018-05-16 23:21:41 +01:00
Michael du Breuil 9e551350a4 AP_RangeFinder: Remove unneeded state member 2018-05-16 23:21:41 +01:00
Dmitri Ranfft 8fa281fa5b RangeFinder: fixed a crash when VL53L0X was enabled in the software but not connected. 2018-05-07 11:47:39 +10:00
Peter Barker c627ed6ae3 RangeFinder: remove divide-by-zero possibility 2018-03-31 16:14:09 +09:00
Francisco Ferreira 146143ff2e AP_Rangefinder: adapt to new serial manager enum name 
Lidar is now called Rangefinder
 2018-02-28 08:04:16 +09:00
Francisco Ferreira 45531775cd AP_Rangefinder: support multiple serial rangefinders 2018-02-28 08:04:16 +09:00
Francisco Ferreira 5999421c72 AP_RangeFinder: uLanding now uses the Lidar protocol 
uLanding was using a specific protocol in serial manager, but that's not needed and would break following work
As previously, baudrate is hardcoded
 2018-02-28 08:04:16 +09:00
LukeMike 721f55e93c VRBRAIN / AP_RangeFinder: removed AP_RangeFinder_PX4_PWM for VR Brain boards 2018-02-05 08:26:49 +11:00
Pierre Kancir 6728598099 AP_Rangefinder: don't include Bebop rangefinder by default 2017-12-21 04:13:09 +00:00
Andrew Tridgell ffced7d591 AP_RangeFinder: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Francisco Ferreira 02586b0a2e
AP_Rangefinder: search buses 0 and 1 for Maxbotix I2C driver 2017-10-09 11:57:02 +01:00
Francisco Ferreira bb46eaedaa
AP_Rangefinder: look in buses 0/1 when Lightware I2C bus isn't defined 2017-10-09 11:57:02 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi 2e80b2e1d0 AP_RangeFinder: add static create method 2017-09-26 03:01:21 +01:00
davidaroyer cb270a9acf AP_RangeFinder: cleanup variable names in uLanding driver 2017-09-22 18:08:27 +01:00
davidaroyer 8284fb1093 AP_RangeFinder: update uLanding driver for new firmware data format 2017-09-22 18:08:27 +01:00
Lucas De Marchi 7b0d6166e1 AP_RangeFinder: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Mateusz Sadowski eb56a010b3 AP_RangeFinder: TeraRangerI2C: use address from parameter instead of hardcoded 2017-08-15 19:42:10 +01:00
Mateusz Sadowski 0993300506 AP_Rangefinder: rename trone to TeraRangerI2C 2017-08-15 19:27:49 +01:00
Peter Barker 30c4ea8123 AP_RangeFinder: stop storing sensor type as a variable 
And change method name
 2017-08-15 18:58:16 +01:00
Peter Barker c0aa10d84b AP_RangeFinder: move rangefinder backend data accessors to backend 2017-08-15 18:30:45 +01:00
Peter Barker 127edce39e AP_RangeFinder: move prearm checks into backend 2017-08-09 13:58:53 +01:00
Peter Barker 0b1c67d170 AP_RangeFinder: remove unused parameters from detect and constructors 2017-08-09 13:58:53 +01:00
Peter Barker 08cd3f4a77 AP_RangeFinder: move instance parameters into instance state 2017-08-09 13:58:53 +01:00
Pierre Kancir ccbf281137 AP_RangeFinder: allow to set rangefinder type for mavlink 2017-06-22 16:17:58 +01:00
Francisco Ferreira a960c6526c
AP_Rangefinder: set type for VL53L0X 2017-06-08 01:32:11 +01:00
Pierre Kancir 8b38bd2e33 AP_RangeFinder: add sensor type to backend 2017-06-08 01:22:07 +01:00
Andrew Tridgell b29db0aa5b AP_RangeFinder: implement VL53L0X rangefinder 2017-06-07 23:05:01 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas 78b7207ab4 AP_RangeFinder: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
murata 46cba2c970 libraries: Delete the setting value for specific editor. 2017-05-11 13:18:41 -07:00
Pierre Kancir 4a2b90b707 AP_Rangefinder: example fix travis warning 
missing function declaration
implicit cast
some style fix
 2017-04-13 19:56:16 +01:00
Grant Morphett 792bf70c40 RangeFinder: Fixed the value labels for LidarLite 
LidarLiteV2 ---> LidarLiteV2-I2C
LidarLiteV3 ---> LidarLiteV3-I2C
 2017-04-11 20:54:19 +09:00
Lucas De Marchi b17acfee12 Add aerofc support 
Flight Controller board that comes on Intel Aero RTF Drone.
 2017-03-24 12:06:19 +11:00
Andrew Tridgell 05cbc19ad6 AP_RangeFinder: added type 15 for LidareLiteV3 2017-03-01 22:44:37 +11:00
Randy Mackay c98e598ae2 AP_RangeFinder: fix example sketch 2017-02-27 15:18:08 +09:00
Randy Mackay e7dd21a0bb AP_RangeFinder: remove primary, add orientation 2017-02-27 15:18:03 +09:00
Andrew Tridgell df1da3c14e AP_RangeFinder: setup for split I2C transfers 
this fixes PulsedLight Lidar on Linux
 2017-02-23 22:38:15 -08:00
Jacob Walser d3442ae16b AP_RangeFinder: Bugfix for mavlink rangefinders to include out of range low/high 2017-02-21 11:26:14 +11:00
murata d9dbf6e1eb AP_OpticalFlow: Change from magic number 0 to definition name. 2017-02-18 14:12:36 +00:00
priseborough bf51da224a AP_RangeFinder: Update min value for RNGFND_GNDCLEAR parameter 2017-02-15 07:04:38 +09:00
murata 17c62ffe4c AP_RangeFinder: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Andrew Tridgell 848c03650b AP_RangeFinder: removed old PX4 rangefinder drivers 2017-01-27 18:12:20 +11:00
Andrew Tridgell 3b42289475 AP_RangeFinder: added doc listing for TrOneI2C 2017-01-27 18:11:29 +11:00
Andrew Tridgell 683e549ed7 AP_RangeFinder: added WHOAMI and crc check 
thanks to Francisco for review comments
 2017-01-27 18:11:29 +11:00
Andrew Tridgell 68ff71e4c0 AP_RangeFinder: added trone in-tree driver 2017-01-27 18:11:29 +11:00
Julien Beraud b561837b41 RangeFinder_Bebop: Fix mode selection 
mistakes in selecting mode
 2017-01-17 09:34:25 -08:00
Julien Beraud 8a1f4e048f RangeFinder_Bebop: fix spi speed 
Set spi speed. Else 0 will be sent at each transfer.
 2017-01-17 09:34:25 -08:00
Lucas De Marchi 5472bc4de1 Global: change Device::PeriodicCb signature 
Remove bool return as it's never being used and not supported on PX4.
 2017-01-14 10:03:54 +11:00
Randy Mackay 8215b92371 AP_RangeFinder: MAV only accepts DISTANCE_SENSOR with orient 25 
25 is  MAV_SENSOR_ROTATION_PITCH_270 meaning downward facing
 2016-12-27 08:37:48 +09:00
Randy Mackay 0dd7e78c2b RangeFinder: fix to suppressing comment for case fall through 
no functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:31 +09:00
Jonathan Challinger 6e47bed97d AP_RangeFinder: fix hard fault with LightWareI2C 2016-12-07 07:52:38 +11:00
Francisco Ferreira 202c33491e RangeFinder: remove useless returns and update comment 2016-12-03 17:44:06 +00:00
murata a99bde9dad RangeFinder: Change type determination from if state to switch state. 2016-12-03 17:33:01 +00:00
ShingoMatsuura e9feb7bdda AP_RangeFilnder: moved the const buffer definition to the header and changed from '8' to 'sizeof(send_request_buffer)' 2016-11-23 10:28:38 -08:00
ShingoMatsuura f97ede9865 AP_RangeFilnder: change send_request_buffer member variable to const and other fixes 2016-11-23 10:28:38 -08:00
ShingoMatsuura e8ff156fa6 AP_RangeFilnder: add clear buffer at INIT state and change send_buffer to member variable to reduce CRC computation for sending request 2016-11-23 10:28:38 -08:00
ShingoMatsuura c1c643e56e AP_RangeFinder: remove clear buffer in send_request 2016-11-23 10:28:38 -08:00
Randy Mackay b7f95d9c25 AP_RangeFinder: remove serial.end and begin 
Also some formatting changes
 2016-11-21 14:07:01 +09:00
Randy Mackay 99fafcb495 RangeFinder: add uLanding to TYPE parameter description 2016-11-21 13:52:15 +09:00
Ricardo de Almeida Gonzaga 148fa03d6b AP_RangeFinder: support MaxBotix Serial rangefinders 
This has been tested with LV-MaxSonar®-EZ1 MB1010
 2016-11-21 11:21:56 +09:00
Randy Mackay 44c5fee90d AP_RangeFinder: formatting fixes for uLanding 2016-11-21 11:07:41 +09:00
davidaroyer 69bc4c42c9 AP_RangeFinder: Add support for Aerotenna uLanding radar altimeter 2016-11-21 11:07:41 +09:00
Andrew Tridgell 6c09758447 AP_RangeFinder: removed momentary spikes in PulsedLight I2C Lidar 2016-11-21 10:30:04 +11:00
Andrew Tridgell 5f3c14ea01 AP_RangeFinder: fixed tabs -> spaces 2016-11-12 14:18:15 +11:00
Andrew Tridgell 0c7dd99d7e AP_RangeFinder: support LidarLite V2 using in-tree driver 
needs to run in continuous mode
 2016-11-12 14:18:14 +11:00
Andrew Tridgell fd7b313e34 AP_RangeFinder: removed pwm_input_main 
thanks to Francisco
 2016-11-11 15:49:53 +11:00
Andrew Tridgell a69ff34c80 AP_RangeFinder: try bus 0 and 1 for PulsedLightI2C rangefinder 2016-11-11 15:49:53 +11:00
Andrew Tridgell 516141edf3 AP_RangeFinder: start PX4 rangefinder drivers on demand 2016-11-11 15:49:53 +11:00
Andrew Tridgell e88519364f AP_RangeFinder: fixed maxbotix I2C semaphore and bus usage 2016-11-09 17:08:02 +11:00
Andrew Tridgell 0b27478d7b AP_RangeFinder: use thread per bus for LightWareI2C driver 2016-11-09 17:07:55 +11:00
Lucas De Marchi 932d1ae244 AP_RangeFinder: add O_CLOEXEC in places missing it 
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
 2016-11-07 12:37:30 -03:00
Shingo Matsuura ceaa9474ed AP_RangeFinder: change enum name, add "state" word 2016-11-06 05:22:30 -08:00
Shingo Matsuura 4329cdbf2c AP_RangeFinder: change comment about fall through LEDDARONE_MODBUS_INIT case 2016-11-06 05:22:30 -08:00
Shingo Matsuura 3b8d36314c AP_RangeFinder: add comment about no break at LEDDARONE_MODBUS_INIT case 2016-11-06 05:22:30 -08:00
Shingo Matsuura 0eeca3ee0b AP_RangeFinder: remove case indent 2016-11-06 05:22:30 -08:00
Shingo Matsuura 4ca1eefd50 AP_RangeFinder: change magic numbers to define 2016-11-06 05:22:30 -08:00
Shingo Matsuura 6254787186 AP_RangeFinder: remove break in LEDDARONE_MODOBUS_INIT case and and use () around (read_len == 0) for clarity 2016-11-06 05:22:30 -08:00
Shingo Matsuura 5e5a806979 AP_RangeFinder: modified regarding to advices from @magicrub - san. 2016-11-06 05:22:30 -08:00
Shingo Matsuura 4b127edd5e AP_RangeFinder: fixed LeddarOne busy wait 2016-11-06 05:22:30 -08:00
murata c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Andrew Tridgell df23c4857e AP_RangeFinder: disabled LeddarOne driver 
this driver is broken and could cause a vehicle to crash. It does busy
waits on a UART from the main thread.

It will be re-enabled when fixed
 2016-10-31 13:40:49 +11:00
Peter Barker c1f455f904 AP_RangeFinder: correct parameter metadata 2016-10-27 09:15:03 -07:00
Andrew Tridgell 703ef0ca0e AP_RangeFinder: added get_primary() API 2016-10-27 15:45:07 +11:00
Andrew Tridgell 27cdf220de AP_RangeFinder: use const reference 2016-10-27 14:59:10 +11:00
priseborough f722ddf615 AP_RangeFinder: Update parameter documentation 
Add brief description of body frame conventions.
 2016-10-27 14:54:45 +11:00
priseborough 4499ed437c AP_RangeFinder: remove space before preprocessor directive 2016-10-27 14:54:44 +11:00
priseborough 3ca6c12344 AP_RangeFinder: Improve consistency of parameter naming 2016-10-27 14:54:44 +11:00
priseborough 24f9e7365d AP_RangeFinder: Add parameters defining sensor position offset 2016-10-27 14:54:41 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
ShingoMatsuura 8432c5fb4a AP_RangeFinder: remove number_detections member variable and add number_detections reference argument to parse_response 2016-10-11 07:56:37 -03:00
ShingoMatsuura 43f2482abd AP_RangeFinder: modify spelling and change C type cast to static_cast 2016-10-11 07:56:37 -03:00
ShingoMatsuura 6123fad124 AP_RangeFinder: change error and ok status defines to LeddarOne_Status enum 2016-10-11 07:56:37 -03:00
Lucas De Marchi ae53920e5b build: don't build examples with old build system 
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file.  Having the makefiles
there is misleading since people try to build and realize the build is
broken.
 2016-10-11 13:03:08 +11:00
murata d58c193c90 AP_RangeFinder: To define the OK status to LEDDARONE status. 2016-09-25 17:46:22 -07:00
murata 3a1cd20f11 AP_RangeFinder: To move to the place that use the variable definition for the first time. 2016-09-22 08:41:21 +09:00
Tom Pittenger 5512b6de02 AP_RangeFinder: Cleanup and added comments 
- uart->available(); returns uint32 but was stored locally as int32 and treated as uint32. Now stored correctly as uint32
- some variables were set to zero at start of function, then reset to zero before being used. wasted work
 2016-09-21 10:45:25 +09:00
Tom Pittenger e928e20b11 AP_RangeFinder: Ensure no divide by zeros in LeddarOne 
Having a critical divide by value as a class member that could change external to the function using it is fragile. It was not very obvious that a divide by zero was not possible in the current design, now it's very obvious and safer in case the code changes later.
 2016-09-21 10:45:23 +09:00