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| author | akdslr <allyson.kreft@dslrpros.com> | 2014-06-05 09:53:56 -0400 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-08 12:03:40 +0200 |
| commit | 67b7a858881229b95483e986a6e4d90ab34ac257 (patch) | |
| tree | 2ec2688e8ada3490c49117d266ee63c367d705b0 /src/drivers/ll40ls | |
| parent | 7f91f0cc3ef806a7959e06ab16d4094bcfe871bd (diff) | |
| download | px4-firmware-67b7a858881229b95483e986a6e4d90ab34ac257.tar.gz px4-firmware-67b7a858881229b95483e986a6e4d90ab34ac257.tar.bz2 px4-firmware-67b7a858881229b95483e986a6e4d90ab34ac257.zip | |
LL40LS driver: Changes from the May 4th plane test flight
Diffstat (limited to 'src/drivers/ll40ls')
| -rw-r--r-- | src/drivers/ll40ls/ll40ls.cpp | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index 287207837..bc012e2e9 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -86,7 +86,7 @@ #define LL40LS_MIN_DISTANCE (0.00f) #define LL40LS_MAX_DISTANCE (14.00f) -#define LL40LS_CONVERSION_INTERVAL 60000 /* 60ms */ +#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */ /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -517,8 +517,8 @@ LL40LS::collect() return ret; } - uint16_t distance = val[0] << 8 | val[1]; - float si_units = (distance * 1.0f) / 100.0f; /* cm to m */ + uint16_t distance = (val[0] << 8) | val[1]; + float si_units = distance * 0.01f; /* cm to m */ struct range_finder_report report; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ @@ -532,8 +532,10 @@ LL40LS::collect() report.valid = 0; } - /* publish it */ - orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + /* publish it, if we are the primary */ + if (_range_finder_topic >= 0) { + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); + } if (_reports->force(&report)) { perf_count(_buffer_overflows); |