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Ark flow rev 3 with PAA3905"

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Add AFBR-S50LX85D
This commit is contained in:
alexklimaj
2022-09-22 20:36:43 -04:00
committed by Daniel Agar
parent 38d332a553
commit fdf4b668eb
4 changed files with 24 additions and 5 deletions
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src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp
+11 -2
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@@ -148,6 +148,7 @@ int AFBRS50::init()
PX4_INFO_RAW("AFBR-S50 Chip ID: %u, API Version: %u v%d.%d.%d\n", (uint)id, (uint)value, a, b, c);
argus_module_version_t mv = Argus_GetModuleVersion(_hnd);
argus_laser_type_t lt = Argus_GetLaserType(_hnd);
switch (mv) {
case AFBR_S50MV85G_V1:
@@ -167,11 +168,19 @@ int AFBRS50::init()
case AFBR_S50LV85D_V1:
_min_distance = 0.08f;
_max_distance = 30.f;
if (lt == LASER_H_V2X) {
_max_distance = 50.f;
PX4_INFO_RAW("AFBR-S50LX85D (v2)\n");
} else {
_max_distance = 30.f;
PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
}
_px4_rangefinder.set_min_distance(_min_distance);
_px4_rangefinder.set_max_distance(_max_distance);
_px4_rangefinder.set_fov(math::radians(6.f));
PX4_INFO_RAW("AFBR-S50LV85D (v1)\n");
break;
case AFBR_S50MV68B_V1: