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distance sensors: Improve variable naming / description

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This commit is contained in:
Philipp Oettershagen
2018-07-16 21:59:04 +10:00
committed by Paul Riseborough
parent 35bde5c9fc
commit da2fbf60b5
16 changed files with 20 additions and 20 deletions
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src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+5 -5
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@@ -515,14 +515,14 @@ int LidarLiteI2C::collect()
/* Final data quality evaluation. This is based on the datasheet and simple heuristics retrieved from experiments*/
// Step 1: Normalize signal strength to 0...100 percent using the absolute signal peak strength.
uint8_t signal_strength = 100 * math::max(ll40ls_peak_strength - LL40LS_PEAK_STRENGTH_LOW,
0) / (LL40LS_PEAK_STRENGTH_HIGH - LL40LS_PEAK_STRENGTH_LOW);
uint8_t signal_quality = 100 * math::max(ll40ls_peak_strength - LL40LS_PEAK_STRENGTH_LOW,
0) / (LL40LS_PEAK_STRENGTH_HIGH - LL40LS_PEAK_STRENGTH_LOW);
// Step 2: Also use ll40ls_signal_strength (a relative measure, i.e. peak strength to noise!) to reject potentially ambiguous measurements
if (ll40ls_signal_strength <= LL40LS_SIGNAL_STRENGTH_LOW) { signal_strength = 0; }
if (ll40ls_signal_strength <= LL40LS_SIGNAL_STRENGTH_LOW) { signal_quality = 0; }
// Step 3: Filter physically impossible measurements, which removes some crazy outliers that appear on LL40LS.
if (distance_m < LL40LS_MIN_DISTANCE) { signal_strength = 0; }
if (distance_m < LL40LS_MIN_DISTANCE) { signal_quality = 0; }
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
@@ -530,7 +530,7 @@ int LidarLiteI2C::collect()
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
report.signal_strength = signal_strength;
report.signal_quality = signal_quality;
report.type =
distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; // the sensor is in fact a laser + sonar but there is no enum for this
report.orientation = _rotation;