fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 00:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ulanding radar: small improvements

Browse Source 
- set measurement of first sample to -1 to indicated that the data
is not valid

- give an estimate of the sensor variance based on the sensor resolution
and experiments

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-12-27 15:35:55 +01:00
committed by Lorenz Meier
parent 97d106b5f1
commit b596874b91
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ulanding/ulanding.cpp
+5 -2
View File
@@ -52,7 +52,8 @@
#define RADAR_DEFAULT_PORT "/dev/ttyS2" // telem2 on Pixhawk
#define BUF_LEN 9
#define SENS_VARIANCE 0.045f * 0.045f // assume standard deviation to be equal to sensor resolution. Static bench tests have shown that
// the sensor ouput does not vary if the unit is not moved.
extern "C" __EXPORT int ulanding_radar_main(int argc, char *argv[]);
@@ -222,6 +223,8 @@ Radar::init()
ds_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
ds_report.orientation = 8;
ds_report.id = 0;
ds_report.current_distance = -1.0f; // make evident that this range sample is invalid
ds_report.covariance = SENS_VARIANCE;
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
@@ -388,7 +391,7 @@ Radar::task_main()
report.current_distance;
report.min_distance = ULANDING_MIN_DISTANCE;
report.max_distance = ULANDING_MAX_DISTANCE;
report.covariance = 0.0f;
report.covariance = SENS_VARIANCE;
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
report.id = 0;