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AP_RangeFinder: formatting fixes for uLanding

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This commit is contained in:
Randy Mackay 2016-11-21 11:07:24 +09:00
parent 69bc4c42c9
commit 44c5fee90d
2 changed files with 12 additions and 16 deletions
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26
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
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@ -1,4 +1,3 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -63,29 +62,28 @@ bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
while (nbytes-- > 0) {
uint8_t c = uart->read();
// ok, we have located start byte
if ( c == 72 && index ==0 ) {
if (c == 72 && index == 0) {
linebuf_len = 0;
index = 1;
}
// now it is ready to decode index information
if ( index == 1 ){
linebuf[linebuf_len] = c;
linebuf_len ++;
if ( linebuf_len == 3 ){
index = 0;
sum += ( linebuf[2]&0x7F ) *128 + ( linebuf[1]&0x7F );
linebuf_len = 0;
count ++;
}
if (index == 1) {
linebuf[linebuf_len] = c;
linebuf_len ++;
if (linebuf_len == 3) {
index = 0;
sum += (linebuf[2]&0x7F) *128 + (linebuf[1]&0x7F);
linebuf_len = 0;
count ++;
}
}
}
if (count == 0) {
return false;
}
//reading_cm = 4.5 * sum / count;
reading_cm = 2.5 * sum / count;
reading_cm = 2.5f * sum / count;
return true;
}

2
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
View File

@ -27,5 +27,3 @@ private:
uint8_t linebuf[10];
uint8_t linebuf_len = 0;
};