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AP_Rangefinder: fixed out of range issue with benewake uart lidars

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this impacts the TF03 180m lidar
This commit is contained in:
Andrew Tridgell 2022-09-05 14:27:53 +10:00
parent 24cff5f9b1
commit b7b02bd369
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
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@ -93,8 +93,12 @@ bool AP_RangeFinder_Benewake::get_reading(float &reading_m)
if (checksum == linebuf[BENEWAKE_FRAME_LENGTH-1]) {
// calculate distance
uint16_t dist = ((uint16_t)linebuf[3] << 8) | linebuf[2];
if (dist >= BENEWAKE_DIST_MAX_CM) {
// this reading is out of range
if (dist >= BENEWAKE_DIST_MAX_CM || dist == uint16_t(model_dist_max_cm())) {
// this reading is out of range. Note that we
// consider getting exactly the model dist max
// is out of range. This fixes an issue with
// the TF03 which can give exactly 18000 cm
// when out of range
count_out_of_range++;
} else if (!has_signal_byte()) {
// no signal byte from TFmini so add distance to sum