From d1c9aed9eab1b058eecdc9de688013160b6ab9a0 Mon Sep 17 00:00:00 2001 From: zbr Date: Thu, 29 Jul 2021 18:14:12 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=BC=E5=AE=B9=E6=97=A7=E7=9A=84=E5=A3=B0?= =?UTF-8?q?=E5=91=90=EF=BC=8C=E6=94=B9Rangefinder=20NMEA=E4=B8=B2=E5=8F=A3?= =?UTF-8?q?=E9=80=9A=E4=BF=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- APMrover2/version.cpp | 2 +- libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/APMrover2/version.cpp b/APMrover2/version.cpp index 1086597b96..570b8e9635 100644 --- a/APMrover2/version.cpp +++ b/APMrover2/version.cpp @@ -29,7 +29,7 @@ const AP_FWVersion AP_FWVersion::fwver{ .fw_hash_str = "", #else // .fw_string = THISFIRMWARE " (" GIT_VERSION ")", - .fw_string = "Version: v4.0.2 ,Board ID:BD202103001", + .fw_string = "Version: v4.0.3 ,Board ID:BD202103001", .fw_hash_str = GIT_VERSION, #endif .middleware_name = nullptr, diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp index 7175e54406..56e4f8ab4c 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp @@ -18,7 +18,7 @@ #include #include #include "AP_RangeFinder_NMEA.h" - +// #include extern const AP_HAL::HAL& hal; // constructor initialises the rangefinder @@ -50,6 +50,8 @@ void AP_RangeFinder_NMEA::update(void) if (get_reading(state.distance_cm)) { // update range_valid state based on distance measured state.last_reading_ms = now; + // gcs().send_text(MAV_SEVERITY_INFO,"t:%ld,dist:%dcm",state.last_reading_ms,state.distance_cm); + update_status(); } else if ((now - state.last_reading_ms) > 3000) { set_status(RangeFinder::RangeFinder_NoData); @@ -71,6 +73,8 @@ bool AP_RangeFinder_NMEA::get_reading(uint16_t &reading_cm) ret = true; _sonar_deep = radar_data[1]; _sonar_voltage = radar_data[5]; + + // gcs().send_text(MAV_SEVERITY_INFO,"deep:%.2f,volt:%.2f",_sonar_deep,_sonar_voltage); } }