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Rover: fixed timeout for obstacle detection

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Andrew Tridgell 2013-03-29 09:36:54 +11:00
parent 7c4dfa6698
commit e4a4cb59e0
1 changed files with 2 additions and 0 deletions
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2
APMrover2/sensors.pde
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@ -68,6 +68,7 @@ static void read_sonars(void)
sonar1_dist_cm);
}
obstacle.detected = true;
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = g.sonar_turn_angle;
} else if (sonar2_dist_cm <= g.sonar_trigger_cm) {
// we have an object on the right
@ -76,6 +77,7 @@ static void read_sonars(void)
sonar2_dist_cm);
}
obstacle.detected = true;
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = -g.sonar_turn_angle;
}
} else {