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lpe: check for distance sensor orientation

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This commit is contained in:
ChristophTobler
2017-09-22 09:00:09 +02:00
committed by ChristophTobler
parent ee82e80517
commit bfe28c1df3
1 changed files with 6 additions and 6 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+6 -6
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@@ -235,17 +235,17 @@ void BlockLocalPositionEstimator::update()
if (s->get().timestamp == 0) { continue; }
if (s->get().type == \
distance_sensor_s::MAV_DISTANCE_SENSOR_LASER &&
if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_LASER &&
s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
_sub_lidar == nullptr) {
_sub_lidar = s;
mavlink_and_console_log_info(&mavlink_log_pub, "%sLidar detected with ID %i", msg_label, i);
mavlink_and_console_log_info(&mavlink_log_pub, "%sDownward-facing Lidar detected with ID %i", msg_label, i);
} else if (s->get().type == \
distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND &&
} else if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND &&
s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
_sub_sonar == nullptr) {
_sub_sonar = s;
mavlink_and_console_log_info(&mavlink_log_pub, "%sSonar detected with ID %i", msg_label, i);
mavlink_and_console_log_info(&mavlink_log_pub, "%sDownward-facing Sonar detected with ID %i", msg_label, i);
}
}
}