AP_RangeFinder: rename uLanding to USD1_Serial

this was rebranded by the vendor Ainstein a long time ago

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -28,7 +28,7 @@
 #endif
 #include "AP_RangeFinder_MAVLink.h"
 #include "AP_RangeFinder_LeddarOne.h"
-#include "AP_RangeFinder_uLanding.h"
+#include "AP_RangeFinder_USD1_Serial.h"
 #include "AP_RangeFinder_TeraRangerI2C.h"
 #include "AP_RangeFinder_VL53L0X.h"
 #include "AP_RangeFinder_VL53L1X.h"
@@ -450,9 +450,9 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
             _add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++);
         }
         break;
-    case Type::ULANDING:
-        if (AP_RangeFinder_uLanding::detect(serial_instance)) {
-            _add_backend(new AP_RangeFinder_uLanding(state[instance], params[instance]), instance, serial_instance++);
+    case Type::USD1_Serial:
+        if (AP_RangeFinder_USD1_Serial::detect(serial_instance)) {
+            _add_backend(new AP_RangeFinder_USD1_Serial(state[instance], params[instance]), instance, serial_instance++);
         }
         break;
     case Type::BEBOP:

libraries/AP_RangeFinder/AP_RangeFinder.h

@@ -65,7 +65,7 @@ public:
         LWSER  = 8,
         BEBOP  = 9,
         MAVLink = 10,
-        ULANDING= 11,
+        USD1_Serial = 11,
         LEDDARONE = 12,
         MBSER  = 13,
         TRI2C  = 14,

libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp

@@ -6,7 +6,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Rangefinder type
     // @Description: What type of rangefinder device that is connected
-    // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:uLanding,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL
+    // @Values: 0:None,1:Analog,2:MaxbotixI2C,3:LidarLite-I2C,5:PWM,6:BBB-PRU,7:LightWareI2C,8:LightWareSerial,9:Bebop,10:MAVLink,11:USD1_Serial,12:LeddarOne,13:MaxbotixSerial,14:TeraRangerI2C,15:LidarLiteV3-I2C,16:VL53L0X or VL53L1X,17:NMEA,18:WASP-LRF,19:BenewakeTF02,20:Benewake-Serial,21:LidarLightV3HP,22:PWM,23:BlueRoboticsPing,24:UAVCAN,25:BenewakeTFminiPlus-I2C,26:LanbaoPSK-CM8JL65-CC5,27:BenewakeTF03,28:VL53L1X-ShortRange,29:LeddarVu8-Serial,30:HC-SR04,31:GYUS42v2,32:MSP,33:USD1_CAN,100:SITL
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_RangeFinder_Params, type, 0, AP_PARAM_FLAG_ENABLE),
 

libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.cpp

@@ -14,21 +14,21 @@
  */
 
 #include <AP_HAL/AP_HAL.h>
-#include "AP_RangeFinder_uLanding.h"
+#include "AP_RangeFinder_USD1_Serial.h"
 #include <ctype.h>
 
-#define ULANDING_HDR 254   // Header Byte from uLanding (0xFE)
-#define ULANDING_HDR_V0 72 // Header Byte for beta V0 of uLanding (0x48)
+#define USD1_HDR 254   // Header Byte from USD1_Serial (0xFE)
+#define USD1_HDR_V0 72 // Header Byte for beta V0 of USD1_Serial (0x48)
 
 extern const AP_HAL::HAL& hal;
 
 /*
-   detect uLanding Firmware Version
+   detect USD1_Serial Firmware Version
 */
-bool AP_RangeFinder_uLanding::detect_version(void)
+bool AP_RangeFinder_USD1_Serial::detect_version(void)
 {
     if (_version_known) {
-        // return true if we've already detected the uLanding version
+        // return true if we've already detected the USD1_Serial version
         return true;
     } else if (uart == nullptr) {
         return false;
@@ -38,18 +38,18 @@ bool AP_RangeFinder_uLanding::detect_version(void)
     uint8_t byte1 = 0;
     uint8_t count = 0;
 
-    // read any available data from uLanding
+    // read any available data from USD1_Serial
     int16_t nbytes = uart->available();
 
     while (nbytes-- > 0) {
         uint8_t c = uart->read();
         
-        if (((c == ULANDING_HDR_V0) || (c == ULANDING_HDR)) && !hdr_found) {
+        if (((c == USD1_HDR_V0) || (c == USD1_HDR)) && !hdr_found) {
             byte1 = c;
             hdr_found = true;
             count++;
         } else if (hdr_found) {
-            if (byte1 == ULANDING_HDR_V0) {
+            if (byte1 == USD1_HDR_V0) {
                 if (++count < 4) {
                     /* need to collect 4 bytes to check for recurring
                      * header byte in the old 3-byte data format
@@ -57,9 +57,9 @@ bool AP_RangeFinder_uLanding::detect_version(void)
                     continue;
                 } else {
                     if (c == byte1) {
-                        // if header byte is recurring, set uLanding Version
+                        // if header byte is recurring, set USD1_Serial Version
                         _version = 0;
-                        _header = ULANDING_HDR_V0;
+                        _header = USD1_HDR_V0;
                         _version_known = true;
                         return true;
                     } else {
@@ -72,12 +72,12 @@ bool AP_RangeFinder_uLanding::detect_version(void)
                     }
                 }
             } else {
-                if ((c & 0x80) || (c == ULANDING_HDR_V0)) {
-                    /* Though unlikely, it is possible we could find ULANDING_HDR
+                if ((c & 0x80) || (c == USD1_HDR_V0)) {
+                    /* Though unlikely, it is possible we could find USD1_HDR
                      * in a data byte from the old 3-byte format. In this case,
                      * either the next byte is another data byte (which by default
                      * is of the form 0x1xxxxxxx), or the next byte is the old 
-                     * header byte (ULANDING_HDR_V0). In this case, start the search
+                     * header byte (USD1_HDR_V0). In this case, start the search
                      * again for a header byte.
                      */
                     count = 0;
@@ -88,7 +88,7 @@ bool AP_RangeFinder_uLanding::detect_version(void)
                      * is the version number
                      */
                     _version = c;
-                    _header = ULANDING_HDR;
+                    _header = USD1_HDR;
                     _version_known = true;
                     return true;
                 }
@@ -97,14 +97,14 @@ bool AP_RangeFinder_uLanding::detect_version(void)
     }
 
     /* return false if we've gone through all available data
-     * and haven't detected a uLanding firmware version
+     * and haven't detected a USD1_Serial firmware version
      */
     return false;
 }
 
 
 // read - return last value measured by sensor
-bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
+bool AP_RangeFinder_USD1_Serial::get_reading(float &reading_m)
 {
     if (uart == nullptr) {
         return false;
@@ -112,11 +112,11 @@ bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
 
     
     if (!detect_version()) {
-        // return false if uLanding version check failed
+        // return false if USD1_Serial version check failed
         return false;
     }
 
-    // read any available lines from the uLanding
+    // read any available lines from the USD1_Serial
     float sum = 0;
     uint16_t count = 0;
     bool hdr_found = false;
@@ -142,7 +142,7 @@ bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
                  */
                 continue;
             } else {
-                if (_version == 0 && _header != ULANDING_HDR) {
+                if (_version == 0 && _header != USD1_HDR) {
                     // parse data for Firmware Version #0
                     sum += (_linebuf[2]&0x7F)*128 + (_linebuf[1]&0x7F);
                     count++;
@@ -165,10 +165,10 @@ bool AP_RangeFinder_uLanding::get_reading(float &reading_m)
         return false;
     }
 
-    reading_m = (sum * 0.01f) / count;
+    reading_m = (sum * 0.01) / count;
 
-    if (_version == 0 && _header != ULANDING_HDR) {
-        reading_m *= 2.5f;
+    if (_version == 0 && _header != USD1_HDR) {
+        reading_m *= 2.5;
     }
 
     return true;

libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h

@@ -3,7 +3,7 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend_Serial
+class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial
 {
 
 public:
@@ -25,7 +25,7 @@ protected:
     uint16_t tx_bufsize() const override { return 128; }
 
 private:
-    // detect uLanding Firmware Version
+    // detect USD1_Serial Firmware Version
     bool detect_version(void);
 
     // get a reading