forked from Archive/PX4-Autopilot
ll40ls: fix rotation -> orientation
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46d79d3050
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c0cf144a5a
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@ -41,11 +41,11 @@
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#include "LidarLiteI2C.h"
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LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
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LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
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const int address) :
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I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_px4_rangefinder(get_device_id(), rotation)
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_px4_rangefinder(get_device_id(), orientation)
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{
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_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
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_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
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@ -94,7 +94,7 @@ static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
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class LidarLiteI2C : public device::I2C, public I2CSPIDriver<LidarLiteI2C>
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{
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public:
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LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
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LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
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const int address = LL40LS_BASEADDR);
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virtual ~LidarLiteI2C();
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@ -72,7 +72,7 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html
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I2CSPIDriverBase *LidarLiteI2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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{
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LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.rotation, cli.bus_frequency);
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LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
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if (instance == nullptr) {
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PX4_ERR("alloc failed");
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@ -105,7 +105,7 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
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while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
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switch (ch) {
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case 'R':
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cli.rotation = (enum Rotation)atoi(cli.optarg());
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cli.orientation = (enum Rotation)atoi(cli.optarg());
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break;
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}
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}
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