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don't set quality to 0 for lidar lite v3hp, because the strength data is valid even for short distance

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bazooka joe
2020-07-28 23:45:38 +01:00
committed by Nuno Marques
parent ca33bb1c01
commit 4d1c7b734c
1 changed files with 9 additions and 5 deletions
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src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+9 -5
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@@ -434,13 +434,17 @@ LidarLiteI2C::collect()
} }
} }
// Final data quality evaluation. This is based on the datasheet and simple heuristics retrieved from experiments uint8_t signal_quality;
// Step 1: Normalize signal strength to 0...100 percent using the absolute signal peak strength.
uint8_t signal_quality = 100 * math::max(signal_value - signal_min, 0) / (signal_max - signal_min);
// Step 2: Filter physically impossible measurements, which removes some crazy outliers that appear on LL40LS. if (!_is_v3hp && distance_m < LL40LS_MIN_DISTANCE) {
if (distance_m < LL40LS_MIN_DISTANCE) { //for Lidar lites that are not v3hp we need to filter physically impossible measurements, which removes some crazy outliers that appear on LL40LS.
signal_quality = 0; signal_quality = 0;
} else {
//Final data quality evaluation. This is based on the datasheet and simple heuristics retrieved from experiments
//Normalize signal strength to 0...100 percent using the absolute signal peak strength.
signal_quality = 100 * math::max(signal_value - signal_min, 0) / (signal_max - signal_min);
} }
_px4_rangefinder.update(timestamp_sample, distance_m, signal_quality); _px4_rangefinder.update(timestamp_sample, distance_m, signal_quality);