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[tfmini] Configure range and FoV via parameters

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This commit is contained in:
Niklas Hauser 2025-04-24 13:20:23 +02:00 committed by Niklas Hauser
parent 43ef690254
commit effb9dee11
3 changed files with 32 additions and 3 deletions
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17
src/drivers/distance_sensor/tfmini/TFMINI.cpp
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@ -33,6 +33,7 @@
#include "TFMINI.hpp"
#include <lib/parameters/param.h>
#include <lib/drivers/device/Device.hpp>
#include <fcntl.h>
@ -72,7 +73,8 @@ TFMINI::~TFMINI()
int
TFMINI::init()
{
int32_t hw_model = 1; // only one model so far...
int32_t hw_model = 1;
param_get(param_find("SENS_TFMINI_HW"), &hw_model);
switch (hw_model) {
case 1: // TFMINI (12m, 100 Hz)
@ -83,8 +85,19 @@ TFMINI::init()
// So we set 0.4 as valid minimum.
_px4_rangefinder.set_min_distance(0.4f);
_px4_rangefinder.set_max_distance(12.0f);
_px4_rangefinder.set_fov(math::radians(1.15f));
_px4_rangefinder.set_fov(math::radians(2.3f));
break;
case 2: // ISTRA24 (50m, 100 Hz)
_px4_rangefinder.set_min_distance(0.3f);
_px4_rangefinder.set_max_distance(50.0f);
_px4_rangefinder.set_fov(math::radians(20));
break;
case 3: // ISTRA24 (100m, 100 Hz)
_px4_rangefinder.set_min_distance(0.3f);
_px4_rangefinder.set_max_distance(100.0f);
_px4_rangefinder.set_fov(math::radians(20));
break;
default:

17
src/drivers/distance_sensor/tfmini/module.yaml
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@ -4,3 +4,20 @@ serial_config:
port_config_param:
name: SENS_TFMINI_CFG
group: Sensors
parameters:
- group: Sensors
definitions:
SENS_TFMINI_HW:
description:
short: Hardware Model
long: Models differ in range and FoV.
type: enum
values:
1: TFMINI
2: ISTRA24
3: ISTRA24_100m
min: 1
max: 3
default: 1
reboot_required: true

1
src/drivers/distance_sensor/tfmini/tfmini_main.cpp
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@ -132,7 +132,6 @@ $ tfmini stop
PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Driver status");
PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status");
return PX4_OK;
}