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Ulanding: clarify changes made due to ulanding versions

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This commit is contained in:
jgs2185
2017-08-30 14:53:25 +01:00
committed by Nuno Marques
parent d23fb63c96
commit 085540d5de
1 changed files with 4 additions and 8 deletions
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src/drivers/ulanding/ulanding.cpp
+4 -8
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@@ -81,7 +81,6 @@ namespace ulanding
#define ULANDING_MIN_DISTANCE 0.315f
#define ULANDING_MAX_DISTANCE 50.0f
#define RADAR_RANGE_DATA 0x48
#define ULANDING_VERSION 1
#if defined(__PX4_POSIX_OCPOC)
@@ -91,10 +90,10 @@ namespace ulanding
#endif
#if ULANDING_VERSION == 1
uint8_t ulanding_hdr = 254;
#define ULANDING_HDR 254
#define BUF_LEN 18
#else
uint8_t ulanding_hdr = 72;
#define ULANDING_HDR 72
#define BUF_LEN 9
#endif
@@ -136,11 +135,8 @@ private:
void task_main();
bool read_and_parse(uint8_t *buf, int len, float *range);
#if defined(__PX4_POSIX)
bool is_header_byte(uint8_t c) {return (c == ulanding_hdr);};
#else
bool is_header_byte(uint8_t c) {return ((c & 0x80) == 0x00 && (c & 0x7F) == RADAR_RANGE_DATA);};
#endif
bool is_header_byte(uint8_t c) {return (c == ULANDING_HDR);};
};
namespace radar