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

AP_RangeFinder: MaxsonarI2C reports no data after 300ms

Browse Source
This commit is contained in:
Randy Mackay 2018-06-01 13:48:51 +09:00
parent 4b4e66e2bd
commit 98e87db274
2 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
View File

@ -133,6 +133,7 @@ void AP_RangeFinder_MaxsonarI2CXL::_timer(void)
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
distance = d; distance = d;
new_distance = true; new_distance = true;
last_update_ms = AP_HAL::millis();
_sem->give(); _sem->give();
} }
} }
@ -148,7 +149,8 @@ void AP_RangeFinder_MaxsonarI2CXL::update(void)
state.distance_cm = distance; state.distance_cm = distance;
new_distance = false; new_distance = false;
update_status(); update_status();
} else { } else if (AP_HAL::millis() - last_update_ms > 300) {
// if no updates for 0.3 seconds set no-data
set_status(RangeFinder::RangeFinder_NoData); set_status(RangeFinder::RangeFinder_NoData);
} }
_sem->give(); _sem->give();

1
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
View File

@ -39,6 +39,7 @@ private:
uint16_t distance; uint16_t distance;
bool new_distance; bool new_distance;
uint32_t last_update_ms;
// start a reading // start a reading
bool start_reading(void); bool start_reading(void);