AP_RangeFinder: allow for more than 327m range #27886

peterbarker · 2024-08-21T05:57:14Z

No description provided.

peterbarker · 2024-10-09T02:34:01Z

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  8                                                                     
Durandal                            48     *           200     248               208    264    264
Hitec-Airspeed           *                                                                     
KakuteH7-bdshot                     96     *           328     336               176    264    288
MatekF405                           -8     *           224     200               288    184    200
Pixhawk1-1M-bdshot                  8                  144     312               352    232    224
f103-QiotekPeriph        *                                                                     
f303-Universal           336                                                                   
iomcu                                                                *                         
revo-mini                           32     *           288     280               608    232    304
skyviper-v2450                                         48

Tools/Replay/LR_MsgHandler.cpp

ArduSub/Log.cpp

ArduSub/mode_surftrak.cpp

ArduSub/sensors.cpp

libraries/AP_Scripting/docs/docs.lua

libraries/AP_Scripting/generator/description/bindings.desc

peterbarker

Thanks for the review, @IamPete1 !

ArduSub/mode_surftrak.cpp

ArduSub/sensors.cpp

libraries/AP_Scripting/docs/docs.lua

libraries/AP_Scripting/generator/description/bindings.desc

libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp

IamPete1 · 2025-01-01T19:58:54Z

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

-    return _max_distance_cm;
+    // return the larger of the base class's distance and what we
+    // receive from the network:
+    return MAX(baseclass_max_distance, _max_distance);


Suggested change

return MAX(baseclass_max_distance, _max_distance);

return MIN(baseclass_max_distance, _max_distance);

I think this is now the opposite to what it did before?

Mmm... again, I vaguely recall discusssing at DevCall. Made it work like it did before.

IamPete1 · 2025-01-01T19:59:22Z

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

-        return params.max_distance_cm;
-    }
-    return _max_distance_cm;
+    // return the larger of the base class's distance and what we


Suggested change

// return the larger of the base class's distance and what we

// return the lesser of the base class's distance and what we

Hmmm. That's odd. Fixed.

libraries/SITL/SITL.cpp

libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param

libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param

peterbarker

Fixed things, thanks!

libraries/AP_RangeFinder/AP_RangeFinder_JRE_Serial.cpp

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp

peterbarker · 2025-01-01T21:03:19Z

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

-        return params.max_distance_cm;
-    }
-    return _max_distance_cm;
+    // return the larger of the base class's distance and what we


Hmmm. That's odd. Fixed.

libraries/SITL/SITL.cpp

libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param

libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param

IamPete1 · 2025-01-06T19:35:02Z

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp

+
+    // return the smaller of the base class's distance and what we
+    // receive from the network:
+    return MIN(baseclass_min_distance, _min_distance);


I would have expected this one to be MAX

Fixed. I think I recall us discussing this change at DevCall, but I can't find nnotes on it, so I've made it work like the old code.

… rename also fix a race condition in the quadplane-tailsitter test - which is unlikely to ever trigger

…NH messages

peterbarker added the WIP label Aug 21, 2024

peterbarker force-pushed the pr/rangefinder-over-327 branch 3 times, most recently from 1bf6995 to 88faf49 Compare August 26, 2024 03:47

peterbarker force-pushed the pr/rangefinder-over-327 branch 2 times, most recently from ea8a289 to 1239beb Compare October 9, 2024 02:10

peterbarker added DevCallEU and removed WIP labels Oct 9, 2024

peterbarker commented Oct 9, 2024

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Tools/Replay/LR_MsgHandler.cpp Outdated Show resolved Hide resolved

peterbarker force-pushed the pr/rangefinder-over-327 branch 11 times, most recently from 5c0e9ae to 09efa59 Compare October 11, 2024 04:38

tridge added DelayMerge and removed DevCallEU labels Oct 16, 2024

peterbarker force-pushed the pr/rangefinder-over-327 branch from 09efa59 to 0983029 Compare December 22, 2024 21:33

peterbarker added the DevCallTopic label Dec 22, 2024

IamPete1 reviewed Dec 23, 2024

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peterbarker force-pushed the pr/rangefinder-over-327 branch from 0983029 to 23bf660 Compare December 23, 2024 21:47

peterbarker commented Dec 23, 2024

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CraigElder removed the DevCallTopic label Dec 23, 2024

peterbarker force-pushed the pr/rangefinder-over-327 branch from 23bf660 to 8f566a9 Compare December 26, 2024 22:31

peterbarker restored the pr/rangefinder-over-327 branch January 1, 2025 10:39

peterbarker reopened this Jan 1, 2025

IamPete1 requested changes Jan 1, 2025

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peterbarker force-pushed the pr/rangefinder-over-327 branch from f657c9b to df71eb6 Compare January 1, 2025 21:14

peterbarker commented Jan 1, 2025

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peterbarker force-pushed the pr/rangefinder-over-327 branch 2 times, most recently from 1d91828 to de16535 Compare January 3, 2025 02:30

peterbarker requested a review from IamPete1 January 3, 2025 02:31

IamPete1 reviewed Jan 6, 2025

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peterbarker added 5 commits January 16, 2025 09:19

AP_DAL: allow for more than 327m range rangefinders

69ac210

AP_Logger: allow for more than 327m range rangefinders

77b7e2e

AP_NavEKF2: allow for more than 327m range rangefinders

75dc3b8

AP_NavEKF3: allow for more than 327m range rangefinders

21d2d68

AP_Proximity: allow for more than 327m range rangefinders

a3caf59

peterbarker force-pushed the pr/rangefinder-over-327 branch from de16535 to 7b8cbb4 Compare January 16, 2025 00:21

peterbarker added 14 commits January 16, 2025 11:24

AP_RangeFinder: allow for more than 327m range rangefinders

d7f28a1

AP_Scripting: allow for more than 327m range rangefinders

2f2e6c2

GCS_MAVLink: allow for more than 327m range rangefinders

b2bd635

SITL: allow for more than 327m range rangefinders

36d8f9c

ArduCopter: allow for more than 327m range rangefinders

0e04c0c

ArduSub: allow for more than 327m range rangefinders

6b898d7

ArduPlane: allow for more than 327m range rangefinders

0e77044

AP_Frsky_Telem: allow for more than 327m range rangefinders

f603c02

AP_SurfaceDistance: allow for more than 327m range rangefinders

965a531

Tools: allow for more than 327m range rangefinders

33e9c7f

Sub: log desired rangefinder alt (DSAlt) in metres not cm

8d9bf51

AP_Scripting: update examples to not use deprecated methods

b02d1b1

autotest: correct copter-tailsitter parameter file for RNGFND1_MIN_CM…

bc7c90b

… rename also fix a race condition in the quadplane-tailsitter test - which is unlikely to ever trigger

Replay: add example script for converting from cm to m in RRNI and RR…

246b082

…NH messages

peterbarker force-pushed the pr/rangefinder-over-327 branch from 7b8cbb4 to 246b082 Compare January 16, 2025 00:24

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AP_RangeFinder: allow for more than 327m range #27886

AP_RangeFinder: allow for more than 327m range #27886

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	return MAX(baseclass_max_distance, _max_distance);
	return MIN(baseclass_max_distance, _max_distance);

	// return the larger of the base class's distance and what we
	// return the lesser of the base class's distance and what we

AP_RangeFinder: allow for more than 327m range #27886

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AP_RangeFinder: allow for more than 327m range #27886

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