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mavlink: use optical flow limits from params

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This makes more sense than hard-coding arbitrary values.
This commit is contained in:
Julian Oes
2022-01-10 23:04:10 -05:00
committed by Daniel Agar
parent f48c3a2cc6
commit aefbd80b53
2 changed files with 5 additions and 3 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -829,8 +829,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
device_id.devid_s.address = msg->sysid; device_id.devid_s.address = msg->sysid;
d.timestamp = f.timestamp; d.timestamp = f.timestamp;
d.min_distance = 0.3f; d.min_distance = _param_ekf2_min_rng.get();
d.max_distance = 5.0f; d.max_distance = _param_ekf2_rng_a_hmax.get();
d.current_distance = flow.distance; /* both are in m */ d.current_distance = flow.distance; /* both are in m */
d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND; d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
d.device_id = device_id.devid; d.device_id = device_id.devid;
src/modules/mavlink/mavlink_receiver.h
+3 -1
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@@ -403,7 +403,9 @@ private:
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr, (ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr,
(ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr, (ParamFloat<px4::params::BAT_EMERGEN_THR>) _param_bat_emergen_thr,
(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr (ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
(ParamFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng,
(ParamFloat<px4::params::EKF2_RNG_A_HMAX>) _param_ekf2_rng_a_hmax
); );
// Disallow copy construction and move assignment. // Disallow copy construction and move assignment.