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ll40ls: fix rotation -> orientation

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This commit is contained in:
Beat Küng
2020-10-08 10:15:07 +02:00
parent 02c6f207ce
commit 5b2f41de12
3 changed files with 5 additions and 5 deletions
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src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+2 -2
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@@ -41,11 +41,11 @@
#include "LidarLiteI2C.h" #include "LidarLiteI2C.h"
LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, LidarLiteI2C::LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
const int address) : const int address) :
I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency), I2C(DRV_RNG_DEVTYPE_LL40LS, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, rotation) _px4_rangefinder(get_device_id(), ORB_PRIO_DEFAULT, orientation)
{ {
_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE); _px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE); _px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+1 -1
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@@ -94,7 +94,7 @@ static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
class LidarLiteI2C : public device::I2C, public I2CSPIDriver<LidarLiteI2C> class LidarLiteI2C : public device::I2C, public I2CSPIDriver<LidarLiteI2C>
{ {
public: public:
LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, LidarLiteI2C(I2CSPIBusOption bus_option, const int bus, const uint8_t orientation, int bus_frequency,
const int address = LL40LS_BASEADDR); const int address = LL40LS_BASEADDR);
virtual ~LidarLiteI2C(); virtual ~LidarLiteI2C();
src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+2 -2
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@@ -72,7 +72,7 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/lidar_lite.html
I2CSPIDriverBase *LidarLiteI2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, I2CSPIDriverBase *LidarLiteI2C::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance) int runtime_instance)
{ {
LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.rotation, cli.bus_frequency); LidarLiteI2C* instance = new LidarLiteI2C(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);
if (instance == nullptr) { if (instance == nullptr) {
PX4_ERR("alloc failed"); PX4_ERR("alloc failed");
@@ -105,7 +105,7 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[])
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) { while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) { switch (ch) {
case 'R': case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg()); cli.orientation = (enum Rotation)atoi(cli.optarg());
break; break;
} }
} }