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Correct the LeddarOne FOV and deprecate the unneeded _distance_sensor_topic after migrating to PX4RangeFinder.

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This commit is contained in:
mcsauder
2019-09-06 11:59:29 +02:00
committed by Julian Oes
parent ddd9a97d42
commit aea139bc1b
1 changed files with 1 additions and 9 deletions
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src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+1 -9
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@@ -168,8 +168,6 @@ private:
perf_counter_t _comms_error{perf_alloc(PC_COUNT, "leddar_one_comms_error")}; perf_counter_t _comms_error{perf_alloc(PC_COUNT, "leddar_one_comms_error")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "leddar_one_sample")}; perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "leddar_one_sample")};
orb_advert_t _distance_sensor_topic{nullptr};
}; };
LeddarOne::LeddarOne(const char *device_path, const char *serial_port, uint8_t device_orientation): LeddarOne::LeddarOne(const char *device_path, const char *serial_port, uint8_t device_orientation):
@@ -182,20 +180,14 @@ LeddarOne::LeddarOne(const char *device_path, const char *serial_port, uint8_t d
_px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); _px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
_px4_rangefinder.set_max_distance(LEDDAR_ONE_MAX_DISTANCE); _px4_rangefinder.set_max_distance(LEDDAR_ONE_MAX_DISTANCE);
_px4_rangefinder.set_min_distance(LEDDAR_ONE_MIN_DISTANCE); _px4_rangefinder.set_min_distance(LEDDAR_ONE_MIN_DISTANCE);
_px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian _px4_rangefinder.set_fov(0.105); // FOV cone angle of 6 degrees.
_px4_rangefinder.set_orientation(device_orientation); _px4_rangefinder.set_orientation(device_orientation);
} }
LeddarOne::~LeddarOne() LeddarOne::~LeddarOne()
{ {
stop(); stop();
free((char *)_serial_port); free((char *)_serial_port);
if (_distance_sensor_topic) {
orb_unadvertise(_distance_sensor_topic);
}
perf_free(_comms_error); perf_free(_comms_error);
perf_free(_sample_perf); perf_free(_sample_perf);
} }