From 8c0671e93d1efcf9f5ac8baf27b8ee46e86d00c5 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 28 Aug 2020 09:43:33 +0200 Subject: [PATCH] ll40ls: set default rotation to downwards facing All the other distance sensors have their default rotation to downwards facing as well --- src/drivers/distance_sensor/ll40ls/ll40ls.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp index 4f16fe5314..fd16cc3c92 100644 --- a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp +++ b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp @@ -64,7 +64,7 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); - PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); + PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true); PRINT_MODULE_USAGE_COMMAND("regdump"); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } @@ -99,6 +99,7 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]) int ch; using ThisDriver = LidarLiteI2C; BusCLIArguments cli{true, false}; + cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; cli.default_i2c_frequency = 100000; while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {