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AP_RangeFinder: DroneCAN: improve resolution by avoiding cm

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Iampete1
2026-02-03 20:41:07 +00:00
committed by Peter Barker
parent a46c5c2900
commit 35e339c024
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.cpp
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@@ -86,7 +86,7 @@ void AP_RangeFinder_DroneCAN::update()
set_status(RangeFinder::Status::NoData);
} else if (_status == RangeFinder::Status::Good && new_data) {
//copy over states
state.distance_m = _distance_cm * 0.01f;
state.distance_m = _distance_m;
state.last_reading_ms = _last_reading_ms;
update_status();
new_data = false;
@@ -109,7 +109,7 @@ void AP_RangeFinder_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const
case UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_VALID_RANGE:
{
//update the states in backend instance
driver->_distance_cm = msg.range*100.0f;
driver->_distance_m = msg.range;
driver->_last_reading_ms = AP_HAL::millis();
driver->_status = RangeFinder::Status::Good;
driver->new_data = true;

2
libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h
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@@ -29,7 +29,7 @@ protected:
private:
uint8_t _instance;
RangeFinder::Status _status;
uint16_t _distance_cm;
float _distance_m;
uint32_t _last_reading_ms;
AP_DroneCAN* _ap_dronecan;
uint8_t _node_id;