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vl53lxx driver: add saturation when distance goes beyond max_distance

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This commit is contained in:
DanielePettenuzzo
2018-05-22 12:21:45 +02:00
committed by Beat Küng
parent ad49509b84
commit 3377ec181e
1 changed files with 7 additions and 3 deletions
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src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
+7 -3
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@@ -72,8 +72,6 @@
#include <board_config.h>
#define NAN_F 0.0F/0.0F
/* Configuration Constants */
#ifdef PX4_I2C_BUS_EXPANSION3
#define VL53LXX_BUS PX4_I2C_BUS_EXPANSION3 // I2C port (I2C4) on fmu-v5
@@ -659,7 +657,13 @@ VL53LXX::collect()
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.orientation = _rotation;
report.current_distance = distance_m;
if(distance_m > 2.0f){
report.current_distance = 2.0f;
} else {
report.current_distance = distance_m;
}
report.min_distance = VL53LXX_MIN_RANGING_DISTANCE;
report.max_distance = VL53LXX_MAX_RANGING_DISTANCE;
report.covariance = 0.0f;