From 85aa710414068c704a3eff0fd2de76ded7d38b92 Mon Sep 17 00:00:00 2001 From: Michael Schaeuble Date: Wed, 21 Dec 2016 22:47:41 +0100 Subject: [PATCH] BebopRangeFinder: Integration into build and starup --- cmake/configs/posix_bebop_default.cmake | 2 ++ posix-configs/bebop/px4.config | 1 + .../df_bebop_rangefinder_wrapper.cpp | 6 +++--- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake index 6a3969db27..5abbb4c782 100644 --- a/cmake/configs/posix_bebop_default.cmake +++ b/cmake/configs/posix_bebop_default.cmake @@ -26,6 +26,7 @@ set(config_module_list platforms/posix/drivers/df_mpu6050_wrapper platforms/posix/drivers/df_ak8963_wrapper platforms/posix/drivers/df_bebop_bus_wrapper + platforms/posix/drivers/df_bebop_rangefinder_wrapper # # System commands @@ -105,4 +106,5 @@ set(config_df_driver_list mpu6050 ak8963 bebop_bus + bebop_rangefinder ) diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config index 00f02ae9cf..146936cbfc 100644 --- a/posix-configs/bebop/px4.config +++ b/posix-configs/bebop/px4.config @@ -30,6 +30,7 @@ param set SYS_MC_EST_GROUP 2 df_ms5607_wrapper start df_mpu6050_wrapper start -R 8 df_ak8963_wrapper start -R 32 +df_bebop_rangefinder_wrapper start gps start -d /dev/ttyPA1 sensors start commander start diff --git a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp index f956ed5351..022fb4d6a0 100644 --- a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp +++ b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp @@ -159,9 +159,9 @@ int DfBebopRangeFinderWrapper::_publish(struct bebop_range &data) distance_data.id = 0; // TODO set proper ID - distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270 TODO check if this is correct + distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270 - distance_data.covariance = 0.0f; + distance_data.covariance = 1.0f; // TODO set correct value if (_range_topic == nullptr) { _range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &distance_data, @@ -274,7 +274,7 @@ df_bebop_rangefinder_wrapper_main(int argc, char *argv[]) /* jump over start/off/etc and look at options first */ while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) { switch (ch) { - // Add rotation if necessary + // Add rotation if necessary default: df_bebop_rangefinder_wrapper::usage(); return 0;