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Drivers: Distance Sensors: Add proper device IDs

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Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
This commit is contained in:
JacobCrabill
2021-01-27 17:02:20 -05:00
committed by Daniel Agar
parent adf2d2f73a
commit 85796fbd84
26 changed files with 168 additions and 38 deletions
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src/drivers/uavcan/sensors/rangefinder.cpp
+5 -5
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@@ -82,25 +82,25 @@ void UavcanRangefinderBridge::range_sub_cb(const
if (!_inited) {
uint8_t device_type = 0;
uint8_t rangefinder_type = 0;
switch (msg.sensor_type) {
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR:
device_type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
rangefinder_type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
break;
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR:
device_type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
rangefinder_type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
break;
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR:
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED:
default:
device_type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
rangefinder_type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
break;
}
rangefinder->set_device_type(device_type);
rangefinder->set_rangefinder_type(rangefinder_type);
rangefinder->set_fov(msg.field_of_view);
rangefinder->set_min_distance(_range_min_m);
rangefinder->set_max_distance(_range_max_m);