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Update AFBR to 1.4.4. Remove changing measurement modes. Add parameters. Default to Long range mode"

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This commit is contained in:
AlexKlimaj
2023-09-19 19:15:02 -04:00
committed by Daniel Agar
parent 6d71224cdb
commit 7ff00db9c5
39 changed files with 6383 additions and 2957 deletions
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src/drivers/uavcan/sensors/rangefinder.cpp
+7 -8
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@@ -108,14 +108,13 @@ void UavcanRangefinderBridge::range_sub_cb(const
_inited = true;
}
/*
* FIXME HACK
* This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
* It stopped working when the time sync feature has been introduced, because it caused libuavcan
* to use an independent time source (based on hardware TIM5) instead of HRT.
* The proper solution is to be developed.
*/
rangefinder->update(hrt_absolute_time(), msg.range);
int8_t quality = -1;
if (msg.reading_type == uavcan::equipment::range_sensor::Measurement::READING_TYPE_VALID_RANGE) {
quality = 100;
}
rangefinder->update(hrt_absolute_time(), msg.range, quality);
}
int UavcanRangefinderBridge::init_driver(uavcan_bridge::Channel *channel)