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LL40LS driver: Changes from the May 4th plane test flight

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akdslr 2014-06-05 09:53:56 -04:00 committed by Lorenz Meier
parent 7f91f0cc3e
commit 67b7a85888
1 changed files with 7 additions and 5 deletions
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10
src/drivers/ll40ls/ll40ls.cpp
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@ -86,7 +86,7 @@
#define LL40LS_MIN_DISTANCE (0.00f) #define LL40LS_MIN_DISTANCE (0.00f)
#define LL40LS_MAX_DISTANCE (14.00f) #define LL40LS_MAX_DISTANCE (14.00f)
#define LL40LS_CONVERSION_INTERVAL 60000 /* 60ms */ #define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
/* oddly, ERROR is not defined for c++ */ /* oddly, ERROR is not defined for c++ */
#ifdef ERROR #ifdef ERROR
@ -517,8 +517,8 @@ LL40LS::collect()
return ret; return ret;
} }
uint16_t distance = val[0] << 8 | val[1]; uint16_t distance = (val[0] << 8) | val[1];
float si_units = (distance * 1.0f) / 100.0f; /* cm to m */ float si_units = distance * 0.01f; /* cm to m */
struct range_finder_report report; struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */ /* this should be fairly close to the end of the measurement, so the best approximation of the time */
@ -532,8 +532,10 @@ LL40LS::collect()
report.valid = 0; report.valid = 0;
} }
/* publish it */ /* publish it, if we are the primary */
if (_range_finder_topic >= 0) {
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
}
if (_reports->force(&report)) { if (_reports->force(&report)) {
perf_count(_buffer_overflows); perf_count(_buffer_overflows);