5 commits

Author	SHA1	Message	Date
Martin Budden	849797a035	Changed SONAR device characteristics (max range etc) from #defines to variables to allow future support of different SONAR hardware.	2015-11-28 13:13:18 +00:00
Martin Budden	cda717dbe4	Improved cosine approximation used when calculating altitude when tilted. Now second order Taylor expansion with only 2 extra float multiplies.	2015-11-27 01:12:29 +00:00
Martin Budden	a097e4912f	Improved naming of #defines by including units suffix (_CM etc) and separating naming of device specific constants from general sonar constants. ... Moved device characteristics #defines (max range etc) into sonar_hcsr04.h Moved calculation of tilt angle from altitudehold.c to sonar.c Moved tilt checking from sonar_hcsr04.c to sonar.c, the driver should not anticipate usage.	2015-11-27 00:58:47 +00:00
Martin Budden	83d3d00163	Added test code for sonar distance and altitude functions	2015-11-25 21:37:39 +00:00
Martin Budden	3e95ecbba9	Replaced Sonar magic numbers with #defines. Added first cut of Sonar test code. Corrected spelling in comments. Minor improvements to comments.	2015-11-24 23:26:58 +00:00