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AP_Proximity: LightwareSF40C_v09 uses update Boundary_3D interface

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This commit is contained in:
Randy Mackay 2020-12-14 16:58:13 +09:00
parent 4fda6b38f7
commit 623bd6923e
1 changed files with 5 additions and 6 deletions
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11
libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.cpp
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@ -327,16 +327,15 @@ bool AP_Proximity_LightWareSF40C_v09::process_reply()
_last_distance_received_ms = AP_HAL::millis(); _last_distance_received_ms = AP_HAL::millis();
success = true; success = true;
// Get location on 3-D boundary based on angle to the object // Get location on 3-D boundary based on angle to the object
const boundary_location bnd_loc = boundary.get_sector(angle_deg); const AP_Proximity_Boundary_3D::Face face = boundary.get_face(angle_deg);
// reset this sector back to default, so that it can be filled with the fresh sensor data
boundary.reset_sector(bnd_loc);
if (is_positive(distance_m)) { if (is_positive(distance_m)) {
boundary.set_attributes(bnd_loc, angle_deg, distance_m); boundary.set_face_attributes(face, angle_deg, distance_m);
// update OA database // update OA database
database_push(angle_deg, distance_m); database_push(angle_deg, distance_m);
} else {
// invalidate distance of face
boundary.reset_face(face);
} }
// update boundary used for avoidance
boundary.update_boundary(bnd_loc);
} }
break; break;
} }