From e4509486e82034dc8fdc172c42ec2ac84ed1ee1c Mon Sep 17 00:00:00 2001 From: mcsauder Date: Thu, 5 Sep 2019 10:22:39 -0600 Subject: [PATCH] Correct a typo and create a #define for the LeddarOne FOV. --- src/drivers/distance_sensor/leddar_one/leddar_one.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp index eab73850ea..50ef8a8c25 100644 --- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp +++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp @@ -54,6 +54,8 @@ using namespace time_literals; #define DEVICE_PATH "/dev/LeddarOne" #define LEDDAR_ONE_DEFAULT_SERIAL_PORT "/dev/ttyS3" +#define LEDDAR_ONE_FIELD_OF_VIEW (0.105f) // 6 deg cone angle. + #define LEDDAR_ONE_MAX_DISTANCE 40.0f #define LEDDAR_ONE_MIN_DISTANCE 0.01f @@ -180,7 +182,7 @@ LeddarOne::LeddarOne(const char *device_path, const char *serial_port, uint8_t d _px4_rangefinder.set_device_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); _px4_rangefinder.set_max_distance(LEDDAR_ONE_MAX_DISTANCE); _px4_rangefinder.set_min_distance(LEDDAR_ONE_MIN_DISTANCE); - _px4_rangefinder.set_fov(0.105); // FOV cone angle of 6 degrees. + _px4_rangefinder.set_fov(LEDDAR_ONE_FIELD_OF_VIEW); _px4_rangefinder.set_orientation(device_orientation); } @@ -309,7 +311,7 @@ LeddarOne::init() int LeddarOne::measure() { - // Flush the recieve buffer. + // Flush the receive buffer. tcflush(_file_descriptor, TCIFLUSH); int num_bytes = ::write(_file_descriptor, request_reading_msg, sizeof(request_reading_msg));