aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_RangeFinder: Clean TeraRanger driver

Browse Source
This commit is contained in:
pierre-louis.k 2018-08-03 16:41:45 +02:00 committed by Randy Mackay
parent d162afb790
commit 4d45b68fa3
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
View File

@ -110,11 +110,10 @@ bool AP_RangeFinder_TeraRangerI2C::measure()
return dev->transfer(&cmd, 1, nullptr, 0); return dev->transfer(&cmd, 1, nullptr, 0);
} }
// collect - return last value measured by sensor // collect_raw() - return last value measured by sensor
bool AP_RangeFinder_TeraRangerI2C::collect_raw(uint16_t &raw_distance) bool AP_RangeFinder_TeraRangerI2C::collect_raw(uint16_t &raw_distance)
{ {
uint8_t d[3]; uint8_t d[3];
uint16_t distance = 0;
// Take range reading // Take range reading
if (!dev->transfer(nullptr, 0, d, sizeof(d))) { if (!dev->transfer(nullptr, 0, d, sizeof(d))) {
@ -135,11 +134,11 @@ bool AP_RangeFinder_TeraRangerI2C::check_measure(uint16_t raw_distance, uint16_t
{ {
// Check for error codes // Check for error codes
if (raw_distance == 0xFFFF) { if (raw_distance == 0xFFFF) {
// too far away // Too far away
return false; return false;
} }
if (raw_distance == 0x0000) { if (raw_distance == 0x0000) {
// too close // Too close
return false; return false;
} }
if (raw_distance == 0x0001) { if (raw_distance == 0x0001) {