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drivers: set CM8JL65 signal_quality invalid beyond bounds

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Nico van Duijn
2019-09-13 10:42:10 -04:00
committed by Daniel Agar
parent 78279f6587
commit a26865c279
1 changed files with 4 additions and 3 deletions
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src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
+4 -3
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@@ -227,8 +227,9 @@ private:
uint16_t _crc16{0};
float _max_distance{9.0f};
float _min_distance{0.10f};
// Use conservative distance bounds, to make sure we don't fuse garbage data
float _max_distance{7.9f}; // Datasheet: 8.0m
float _min_distance{0.2f}; // Datasheet: 0.17m
CM8JL65_PARSE_STATE _parse_state{WAITING_FRAME};
@@ -335,7 +336,7 @@ CM8JL65::collect()
report.max_distance = _max_distance;
report.min_distance = _min_distance;
report.orientation = _rotation;
report.signal_quality = -1;
report.signal_quality = report.current_distance < _max_distance && report.current_distance > _min_distance ? -1 : 0;
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
report.variance = 0.0f;