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AP_Periph: rangefinder: add support for PoweredDown state

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Iampete1
2026-08-26 17:54:30 +10:00
committed by Andrew Tridgell
parent f16817af89
commit a8d7ebb23d
1 changed files with 17 additions and 5 deletions
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Tools/AP_Periph/rangefinder.cpp
+17 -5
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@@ -57,10 +57,18 @@ void AP_Periph_FW::can_rangefinder_update(void)
continue;
}
RangeFinder::Status status = backend->status();
if (status <= RangeFinder::Status::NoData) {
// don't send any data for this instance
continue;
const RangeFinder::Status status = backend->status();
switch (status) {
case RangeFinder::Status::NotConnected:
case RangeFinder::Status::NoData:
case RangeFinder::Status::PoweredDown:
// don't send any data for this instance
continue;
case RangeFinder::Status::OutOfRangeLow:
case RangeFinder::Status::OutOfRangeHigh:
case RangeFinder::Status::Good:
break;
}
const uint32_t sample_ms = backend->last_reading_ms();
@@ -83,7 +91,11 @@ void AP_Periph_FW::can_rangefinder_update(void)
case RangeFinder::Status::Good:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_VALID_RANGE;
break;
default:
case RangeFinder::Status::NotConnected:
case RangeFinder::Status::NoData:
case RangeFinder::Status::PoweredDown:
// Should never hit this due to continue in switch above
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_UNDEFINED;
break;
}