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AP_Periph: init rangefinder without serial port

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Iampete1
2026-09-15 10:44:29 +10:00
committed by Andrew Tridgell
parent e8d00f3993
commit 64634be4fb
1 changed files with 1 additions and 6 deletions
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Tools/AP_Periph/AP_Periph.cpp
+1 -6
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@@ -243,7 +243,6 @@ void AP_Periph_FW::init()
#endif
#if AP_PERIPH_RANGEFINDER_ENABLED
bool have_rangefinder = false;
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
if ((rangefinder.get_type(i) != RangeFinder::Type::NONE) && (g.rangefinder_port[i] >= 0)) {
// init uart for serial rangefinders
@@ -251,14 +250,10 @@ void AP_Periph_FW::init()
if (uart != nullptr) {
uart->begin(g.rangefinder_baud[i]);
serial_manager.set_protocol_and_baud(g.rangefinder_port[i], AP_SerialManager::SerialProtocol_Rangefinder, g.rangefinder_baud[i]);
have_rangefinder = true;
}
}
}
if (have_rangefinder) {
// Can only call rangefinder init once, subsequent inits are blocked
rangefinder.init(ROTATION_NONE);
}
rangefinder.init(ROTATION_NONE);
#endif
#if AP_PERIPH_PROXIMITY_ENABLED