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RangeFinder_Bebop: Fix mode selection

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mistakes in selecting mode
This commit is contained in:
Julien Beraud 2017-01-16 19:39:02 +01:00 committed by Lucas De Marchi
parent 8a1f4e048f
commit b561837b41
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
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@ -253,8 +253,8 @@ void AP_RangeFinder_Bebop::_loop(void)
if (max_index >= 0) {
_altitude = (float)(max_index * RNFD_BEBOP_SOUND_SPEED) /
(2 * (RNFD_BEBOP_DEFAULT_ADC_FREQ / _filter_average));
_mode = _update_mode(_altitude);
}
_mode = _update_mode(_altitude);
}
}
@ -309,6 +309,7 @@ void AP_RangeFinder_Bebop::_reconfigure_wave()
if (_capture() < 0)
hal.console->printf("purge could not capture data");
_tx_buf = _tx[_mode];
switch (_mode) {
case 1: /* low voltage */
_configure_gpio(0);
@ -450,7 +451,7 @@ int AP_RangeFinder_Bebop::_update_mode(float altitude)
default:
case 1:
if (altitude > RNFD_BEBOP_TRANSITION_LOW_TO_HIGH
|| !is_zero(altitude)) {
|| is_zero(altitude)) {
if (_hysteresis_counter > RNFD_BEBOP_TRANSITION_COUNT) {
_mode = 0;
_hysteresis_counter = 0;