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distance_sensor: adapted message to float for distance and adapted the drivers

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Ban Siesta
2015-05-24 14:28:19 +01:00
parent a0011d2163
commit 103d59e9be
4 changed files with 24 additions and 24 deletions
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src/drivers/sf0x/sf0x.cpp
+6 -6
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@@ -557,11 +557,11 @@ SF0X::collect()
_last_read = hrt_absolute_time();
float si_units;
float distance_m = -1.0f;
bool valid = false;
for (int i = 0; i < ret; i++) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &si_units)) {
if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) {
valid = true;
}
}
@@ -570,18 +570,18 @@ SF0X::collect()
return -EAGAIN;
}
debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
debug("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((valid) ? "OK" : "NO"));
struct distance_sensor_s report;
report.time_boot_ms = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
report.id = 2;
report.type = 0;
report.orientation = 8;
report.current_distance = si_units;
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0;
report.covariance = 0.0f;
/* publish it */
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);