From 327529d063a4168a0bdcc3f9124b9b94559827be Mon Sep 17 00:00:00 2001 From: Claudio Micheli Date: Tue, 20 Aug 2019 14:56:10 +0200 Subject: [PATCH] ll40ls: unify maximum operational distance to 35m Signed-off-by: Claudio Micheli --- src/drivers/distance_sensor/ll40ls/LidarLite.cpp | 2 +- src/drivers/distance_sensor/ll40ls/LidarLite.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/distance_sensor/ll40ls/LidarLite.cpp b/src/drivers/distance_sensor/ll40ls/LidarLite.cpp index f8d06c865d..de71ba941b 100644 --- a/src/drivers/distance_sensor/ll40ls/LidarLite.cpp +++ b/src/drivers/distance_sensor/ll40ls/LidarLite.cpp @@ -45,7 +45,7 @@ LidarLite::LidarLite(uint8_t rotation) : _px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation) { _px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE); - _px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE_V3); + _px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE); _px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian } diff --git a/src/drivers/distance_sensor/ll40ls/LidarLite.h b/src/drivers/distance_sensor/ll40ls/LidarLite.h index ad57c3d268..3601836494 100644 --- a/src/drivers/distance_sensor/ll40ls/LidarLite.h +++ b/src/drivers/distance_sensor/ll40ls/LidarLite.h @@ -46,8 +46,8 @@ /* Device limits */ #define LL40LS_MIN_DISTANCE (0.05f) -#define LL40LS_MAX_DISTANCE_V3 (35.00f) -#define LL40LS_MAX_DISTANCE_V1 (25.00f) +#define LL40LS_MAX_DISTANCE (35.00f) + // normal conversion wait time #define LL40LS_CONVERSION_INTERVAL 50*1000UL /* 50ms */