From 1fb80612f386d3bf9d1cc0edb855e7fdeb31dc69 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Thu, 11 Jul 2019 13:20:27 +0200 Subject: [PATCH] CollisionPrevention: address https://github.com/PX4/Firmware/pull/12179 review comments --- msg/distance_sensor.msg | 2 +- src/drivers/distance_sensor/cm8jl65/module.yaml | 1 - src/lib/CollisionPrevention/CollisionPrevention.cpp | 2 +- 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/msg/distance_sensor.msg b/msg/distance_sensor.msg index f158828c3e..460a47e839 100644 --- a/msg/distance_sensor.msg +++ b/msg/distance_sensor.msg @@ -27,4 +27,4 @@ uint8 ROTATION_CUSTOM =100 # MAV_SENSOR_ROTATION_CUSTOM float32 h_fov # Sensor horizontal field of view (rad) float32 v_fov # Sensor vertical field of view (rad) -float32[4] q # Quaterion sensor orientation to specify the orientation ROTATION_CUSTOM +float32[4] q # Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM diff --git a/src/drivers/distance_sensor/cm8jl65/module.yaml b/src/drivers/distance_sensor/cm8jl65/module.yaml index f8242c54fa..886dce7e3a 100644 --- a/src/drivers/distance_sensor/cm8jl65/module.yaml +++ b/src/drivers/distance_sensor/cm8jl65/module.yaml @@ -22,6 +22,5 @@ parameters: 0: ROTATION_FORWARD_FACING 6: ROTATION_LEFT_FACING 2: ROTATION_RIGHT_FACING - 100: ROTATION_CUSTOM reboot_required: true default: 25 diff --git a/src/lib/CollisionPrevention/CollisionPrevention.cpp b/src/lib/CollisionPrevention/CollisionPrevention.cpp index 38dc61208b..a7fffebe3c 100644 --- a/src/lib/CollisionPrevention/CollisionPrevention.cpp +++ b/src/lib/CollisionPrevention/CollisionPrevention.cpp @@ -126,7 +126,7 @@ void CollisionPrevention::_updateDistanceSensor(obstacle_distance_s &obstacle) obstacle.timestamp = distance_sensor.timestamp; obstacle.max_distance = distance_sensor.max_distance * 100; // convert to cm obstacle.min_distance = distance_sensor.min_distance * 100; // convert to cm - memset(&obstacle.distances[0], UINT16_MAX, sizeof(obstacle.distances)); + memset(&obstacle.distances[0], 0xff, sizeof(obstacle.distances)); obstacle.increment = math::degrees(distance_sensor.h_fov); obstacle.angle_offset = 0.f; }