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CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179

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Martina Rivizzigno
2019-07-15 10:58:00 +02:00
committed by Beat Küng
parent ac67d5603f
commit 1fb80612f3
3 changed files with 2 additions and 3 deletions
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msg/distance_sensor.msg
+1 -1
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@@ -27,4 +27,4 @@ uint8 ROTATION_CUSTOM =100 # MAV_SENSOR_ROTATION_CUSTOM
float32 h_fov # Sensor horizontal field of view (rad) float32 h_fov # Sensor horizontal field of view (rad)
float32 v_fov # Sensor vertical field of view (rad) float32 v_fov # Sensor vertical field of view (rad)
float32[4] q # Quaterion sensor orientation to specify the orientation ROTATION_CUSTOM float32[4] q # Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM
src/drivers/distance_sensor/cm8jl65/module.yaml
-1
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@@ -22,6 +22,5 @@ parameters:
0: ROTATION_FORWARD_FACING 0: ROTATION_FORWARD_FACING
6: ROTATION_LEFT_FACING 6: ROTATION_LEFT_FACING
2: ROTATION_RIGHT_FACING 2: ROTATION_RIGHT_FACING
100: ROTATION_CUSTOM
reboot_required: true reboot_required: true
default: 25 default: 25
src/lib/CollisionPrevention/CollisionPrevention.cpp
+1 -1
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@@ -126,7 +126,7 @@ void CollisionPrevention::_updateDistanceSensor(obstacle_distance_s &obstacle)
obstacle.timestamp = distance_sensor.timestamp; obstacle.timestamp = distance_sensor.timestamp;
obstacle.max_distance = distance_sensor.max_distance * 100; // convert to cm obstacle.max_distance = distance_sensor.max_distance * 100; // convert to cm
obstacle.min_distance = distance_sensor.min_distance * 100; // convert to cm obstacle.min_distance = distance_sensor.min_distance * 100; // convert to cm
memset(&obstacle.distances[0], UINT16_MAX, sizeof(obstacle.distances)); memset(&obstacle.distances[0], 0xff, sizeof(obstacle.distances));
obstacle.increment = math::degrees(distance_sensor.h_fov); obstacle.increment = math::degrees(distance_sensor.h_fov);
obstacle.angle_offset = 0.f; obstacle.angle_offset = 0.f;
} }