forked from Archive/PX4-Autopilot
LL40LS driver: Changes from the May 4th plane test flight
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@ -86,7 +86,7 @@
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#define LL40LS_MIN_DISTANCE (0.00f)
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#define LL40LS_MAX_DISTANCE (14.00f)
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#define LL40LS_CONVERSION_INTERVAL 60000 /* 60ms */
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#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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@ -517,8 +517,8 @@ LL40LS::collect()
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return ret;
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}
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uint16_t distance = val[0] << 8 | val[1];
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float si_units = (distance * 1.0f) / 100.0f; /* cm to m */
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uint16_t distance = (val[0] << 8) | val[1];
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float si_units = distance * 0.01f; /* cm to m */
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struct range_finder_report report;
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/* this should be fairly close to the end of the measurement, so the best approximation of the time */
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@ -532,8 +532,10 @@ LL40LS::collect()
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report.valid = 0;
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}
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/* publish it */
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/* publish it, if we are the primary */
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if (_range_finder_topic >= 0) {
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orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
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}
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if (_reports->force(&report)) {
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perf_count(_buffer_overflows);
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