From 6a3e57d428b6fd15dea8d6ac4be92139a5375f64 Mon Sep 17 00:00:00 2001 From: dirksavage88 Date: Mon, 22 Apr 2024 15:47:28 -0400 Subject: [PATCH] Shift vertical orientation above scaling yaw operation, cp angle sign change Signed-off-by: dirksavage88 --- .../lightware_sf45_serial/lightware_sf45_serial.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp index 5ca35ac662..e28bcdfc2b 100755 --- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp +++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp @@ -75,7 +75,7 @@ SF45LaserSerial::SF45LaserSerial(const char *port, uint8_t rotation) : // populate obstacle map members _obstacle_map_msg.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD; _obstacle_map_msg.increment = 5; - _obstacle_map_msg.angle_offset = -2.5; + _obstacle_map_msg.angle_offset = 2.5; _obstacle_map_msg.min_distance = UINT16_MAX; _obstacle_map_msg.max_distance = 5000; @@ -663,13 +663,14 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m) } - scaled_yaw = raw_yaw * SF45_SCALE_FACTOR; - // The sensor is facing downward, so the sensor is flipped about it's x-axis -inverse of each yaw angle if (_orient_cfg == 1) { raw_yaw = raw_yaw * -1; } + // SF45/B product guide {Data output bit: 8 Description: "Yaw angle [1/100 deg] size: int16}" + scaled_yaw = raw_yaw * SF45_SCALE_FACTOR; + switch (_yaw_cfg) { case 0: break;