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Sonar: Set min/max distance properly, add usleep for detection

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Lorenz Meier
2015-01-23 16:33:24 +01:00
parent a23c39eec4
commit b14e849fc4
1 changed files with 5 additions and 0 deletions
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src/drivers/mb12xx/mb12xx.cpp
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@@ -277,6 +277,9 @@ MB12XX::init()
} }
} }
// XXX we should find out why we need to wait 200 ms here
usleep(200000);
/* check for connected rangefinders on each i2c port: /* check for connected rangefinders on each i2c port:
We start from i2c base address (0x70 = 112) and count downwards We start from i2c base address (0x70 = 112) and count downwards
So second iteration it uses i2c address 111, third iteration 110 and so on*/ So second iteration it uses i2c address 111, third iteration 110 and so on*/
@@ -606,6 +609,8 @@ MB12XX::collect()
} }
} }
report.minimum_distance = get_minimum_distance();
report.maximum_distance = get_maximum_distance();
report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it, if we are the primary */ /* publish it, if we are the primary */