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Code Issues Wiki Activity

Fixed rangefinder reading.

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This commit is contained in:
mikeller 2020-06-01 15:19:44 +12:00
parent 6bada9c5e9
commit 4923057eb3
6 changed files with 62 additions and 69 deletions
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10
src/main/sensors/rangefinder.c
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@ -254,16 +254,11 @@ static int16_t computePseudoSnr(int32_t newReading) {
/*
* This is called periodically by the scheduler
*/
// XXX Returns timeDelta_t for iNav for pseudo-RT scheduling.
void rangefinderUpdate(timeUs_t currentTimeUs)
void rangefinderUpdate(void)
{
UNUSED(currentTimeUs);
if (rangefinder.dev.update) {
rangefinder.dev.update(&rangefinder.dev);
}
// return rangefinder.dev.delayMs * 1000; // to microseconds XXX iNav only
}
bool isSurfaceAltitudeValid() {
@ -310,8 +305,7 @@ bool rangefinderProcess(float cosTiltAngle)
if (distance >= 0) {
rangefinder.lastValidResponseTimeMs = millis();
rangefinder.rawAltitude = applyMedianFilter(distance);
}
else if (distance == RANGEFINDER_OUT_OF_RANGE) {
} else if (distance == RANGEFINDER_OUT_OF_RANGE) {
rangefinder.lastValidResponseTimeMs = millis();
rangefinder.rawAltitude = RANGEFINDER_OUT_OF_RANGE;
}

4
src/main/sensors/rangefinder.h
View file

@ -56,14 +56,12 @@ typedef struct rangefinder_s {
int16_t snr;
} rangefinder_t;
extern rangefinder_t rangefinder;
void rangefinderResetDynamicThreshold(void);
bool rangefinderInit(void);
int32_t rangefinderGetLatestAltitude(void);
int32_t rangefinderGetLatestRawAltitude(void);
void rangefinderUpdate(timeUs_t currentTimeUs);
void rangefinderUpdate(void);
bool rangefinderProcess(float cosTiltAngle);
bool rangefinderIsHealthy(void);