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Shift vertical orientation above scaling yaw operation, cp angle sign change

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Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
This commit is contained in:
dirksavage88
2024-04-24 15:58:12 -04:00
committed by Daniel Agar
parent 0f6f4c5b07
commit 6a3e57d428
1 changed files with 4 additions and 3 deletions
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src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp
+4 -3
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@@ -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;