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AP_RangeFinder: Changes from the May 4th plane test flight

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akdslr 2014-06-05 10:31:15 -04:00 committed by Andrew Tridgell
parent 2e586ccfb2
commit 3f17969b19
3 changed files with 14 additions and 4 deletions
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9
libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
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@ -77,7 +77,7 @@ bool AP_RangeFinder_PX4::take_reading(void)
// try to accumulate one more sample, so we have the latest data // try to accumulate one more sample, so we have the latest data
accumulate(); accumulate();
// consider the compass healthy if we got a reading in the last 0.2s // consider the range finder healthy if we got a reading in the last 0.2s
for (uint8_t i=0; i<_num_instances; i++) { for (uint8_t i=0; i<_num_instances; i++) {
_healthy[i] = (hrt_absolute_time() - _last_timestamp[i] < 200000); _healthy[i] = (hrt_absolute_time() - _last_timestamp[i] < 200000);
} }
@ -89,7 +89,12 @@ bool AP_RangeFinder_PX4::take_reading(void)
_sum[i] /= _count[i]; _sum[i] /= _count[i];
_sum[i] *= 100.00f; _sum[i] *= 100.00f;
_distance[i] = _mode_filter->apply(_sum[i]); if (_mode_filter) {
_distance[i] = _mode_filter->apply(_sum[i]);
}
else {
_distance[i] = _sum[i];
}
_sum[i] = 0; _sum[i] = 0;
_count[i] = 0; _count[i] = 0;

2
libraries/AP_RangeFinder/AP_RangeFinder_PX4.h
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@ -23,7 +23,7 @@ class AP_RangeFinder_PX4 : public RangeFinder
{ {
public: public:
// constructor // constructor
AP_RangeFinder_PX4(FilterInt16 *filter); AP_RangeFinder_PX4(FilterInt16 *);
// initialize all the range finder devices // initialize all the range finder devices
bool init(void); bool init(void);

7
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -36,7 +36,12 @@ int16_t RangeFinder::read()
// ensure distance is within min and max // ensure distance is within min and max
temp_dist = constrain_float(temp_dist, min_distance, max_distance); temp_dist = constrain_float(temp_dist, min_distance, max_distance);
distance = _mode_filter->apply(temp_dist); if (_mode_filter) {
distance = _mode_filter->apply(temp_dist);
}
else {
distance = temp_dist;
}
return distance; return distance;
} }