distance_sensor:Add distance range setting in TFMINI and rds02uf

src/drivers/distance_sensor/rds02uf/module.yaml

@@ -2,13 +2,13 @@ module_name: Benewake RDS02UF Rangefinder
 serial_config:
     - command: rds02uf start -d ${SERIAL_DEV} -R SENS_RDS02UF_ROT
       port_config_param:
-        name: SENS_RDS02UF_CFG
+        name: SENS_RDS02_CFG
         group: Sensors
 
 parameters:
     - group: Sensors
       definitions:
-        SENS_RDS02UF_ROT:
+        SENS_RDS02_ROT:
             description:
                 short: Distance Sensor Rotation
                 long: |
@@ -24,3 +24,23 @@ parameters:
                 2: ROTATION_RIGHT_FACING
             reboot_required: true
             default: 25
+
+        SENS_RDS02_MAXD:
+            description:
+                short: Benewake RDS02UF Sensor Max Distance
+                long: |
+                    This parameter defines maximum measuring distance in cm.
+            type: int32
+            min: 5
+            max: 20000
+            default: 1500
+
+        SENS_RDS02_MIND:
+            description:
+                short: Benewake RDS02UF Sensor Min Distance
+                long: |
+                    This plsarameter defines min measuring distance in cm.
+            type: int32
+            min: 5
+            max: 20000
+            default: 10

src/drivers/distance_sensor/rds02uf/rds02uf.cpp

@@ -73,15 +73,27 @@ Rds02uf::~Rds02uf()
 int
 Rds02uf::init()
 {
-	param_t _param_rds02uf_rot = param_find("SENS_RDS02UF_ROT");
-	int32_t rotation;
+	param_t _param_rds02uf_rot = param_find("SENS_RDS02_ROT");
+	param_t _param_rds02uf_mind = param_find("SENS_RDS02_MIND");
+	param_t _param_rds02uf_maxd = param_find("SENS_RDS02_MAXD");
+	int32_t rotation,max_dist,min_dist;
 	if (param_get(_param_rds02uf_rot, &rotation) == PX4_OK)
 	{
 		_px4_rangefinder.set_orientation(rotation);
 	}
+	if (param_get(_param_rds02uf_mind, &min_dist) == PX4_OK)
+	{
+		_px4_rangefinder.set_min_distance(min_dist / 100.0f);
+	} else {
+		_px4_rangefinder.set_min_distance(0.4f);
+	}
+	if (param_get(_param_rds02uf_maxd, &max_dist) == PX4_OK)
+	{
+		_px4_rangefinder.set_max_distance(max_dist / 100.0f);
+	} else {
+		_px4_rangefinder.set_max_distance(20.0f);
+	}
 
-	_px4_rangefinder.set_min_distance(0.4f);
-	_px4_rangefinder.set_max_distance(20.0f);
 	// _px4_rangefinder.set_fov(math::radians(1.15f));
 
 	// status

src/drivers/distance_sensor/tfmini/TFMINI.cpp

@@ -73,10 +73,26 @@ int
 TFMINI::init()
 {
 	int32_t hw_model = 1; // only one model so far...
-	param_t _param_tf_rot = param_find("SENS_TFMINI_ROT");
-	int32_t tf_rotation;
-	if (_param_tf_rot != PARAM_INVALID) {
-		param_get(_param_tf_rot, &tf_rotation);
+
+	param_t _param_tfmini_rot = param_find("SENS_TFMINI_ROT");
+	param_t _param_tfmini_mind = param_find("SENS_TFMINI_MIND");
+	param_t _param_tfmini_maxd = param_find("SENS_TFMINI_MAXD");
+	int32_t rotation,max_dist,min_dist;
+	if (param_get(_param_tfmini_rot, &rotation) == PX4_OK)
+	{
+		_px4_rangefinder.set_orientation(rotation);
+	}
+	if (param_get(_param_tfmini_mind, &min_dist) == PX4_OK)
+	{
+		_px4_rangefinder.set_min_distance(min_dist / 100.0f);
+	} else {
+		_px4_rangefinder.set_min_distance(0.4f);
+	}
+	if (param_get(_param_tfmini_maxd, &max_dist) == PX4_OK)
+	{
+		_px4_rangefinder.set_max_distance(max_dist / 100.0f);
+	} else {
+		_px4_rangefinder.set_max_distance(12.0f);
 	}
 
 	switch (hw_model) {
@@ -86,10 +102,10 @@ TFMINI::init()
 		// 0.3 is too close to minimum so chattering of invalid sensor decision
 		// is happening sometimes. this cause EKF to believe inconsistent range readings.
 		// So we set 0.4 as valid minimum.
-		_px4_rangefinder.set_min_distance(0.4f);
-		_px4_rangefinder.set_max_distance(12.0f);
+		// _px4_rangefinder.set_min_distance(0.4f);	// use parameter settings
+		// _px4_rangefinder.set_max_distance(12.0f);
 		_px4_rangefinder.set_fov(math::radians(1.15f));
-		_px4_rangefinder.set_orientation(tf_rotation);
+		// _px4_rangefinder.set_orientation(tf_rotation);
 
 		break;
 

src/drivers/distance_sensor/tfmini/module.yaml

@@ -24,3 +24,23 @@ parameters:
                 2: ROTATION_RIGHT_FACING
             reboot_required: true
             default: 25
+
+        SENS_TFMINI_MAXD:
+            description:
+                short: Benewake TF Sensor Max Distance
+                long: |
+                    This parameter defines maximum measuring distance in cm.
+            type: int32
+            min: 5
+            max: 20000
+            default: 1200
+
+        SENS_TFMINI_MIND:
+            description:
+                short: Benewake TF Sensor Min Distance
+                long: |
+                    This parameter defines min measuring distance in cm.
+            type: int32
+            min: 5
+            max: 20000
+            default: 10

src/drivers/distance_sensor/tfmini_i2c/module.yaml

@@ -52,7 +52,7 @@ parameters:
             description:
                 short: Benewake TF Sensor ${i} Max Distance
                 long: |
-                    This parameter defines maximum measuring distance.
+                    This parameter defines maximum measuring distance in cm.
             type: int32
             min: 5
             max: 20000
@@ -64,7 +64,7 @@ parameters:
             description:
                 short: Benewake TF Sensor ${i} Min Distance
                 long: |
-                    This parameter defines min measuring distance.
+                    This parameter defines min measuring distance in cm.
             type: int32
             min: 5
             max: 20000