mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 02:04:08 +08:00
fa5a00d871
* Refactor velocity reset * Add unit tests for velocity resets * Expand updates to vertical buffer to velocity resets outside of resetHeight * Improve matrix library usage * Improve naming of vertical output samples * Fix update of output_vert_new during reset * Improve naming of vertical output samples 2
37 lines
703 B
C++
37 lines
703 B
C++
#include "range_finder.h"
|
|
|
|
namespace sensor_simulator
|
|
{
|
|
namespace sensor
|
|
{
|
|
|
|
RangeFinder::RangeFinder(std::shared_ptr<Ekf> ekf):Sensor(ekf)
|
|
{
|
|
}
|
|
|
|
RangeFinder::~RangeFinder()
|
|
{
|
|
}
|
|
|
|
void RangeFinder::send(uint64_t time)
|
|
{
|
|
_range_sample.time_us = time;
|
|
_ekf->setRangeData(_range_sample);
|
|
_ekf->set_rangefinder_limits(_min_distance, _max_distance);
|
|
}
|
|
|
|
void RangeFinder::setData(float range_data_meters, int8_t range_quality)
|
|
{
|
|
_range_sample.rng = range_data_meters;
|
|
_range_sample.quality = range_quality;
|
|
}
|
|
|
|
void RangeFinder::setLimits(float min_distance_m, float max_distance_m)
|
|
{
|
|
_min_distance = min_distance_m;
|
|
_max_distance = max_distance_m;
|
|
}
|
|
|
|
} // namespace sensor
|
|
} // namespace sensor_simulator
|