Feature/ulanding #4
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Tested on Rev1.1 |
floriantschopp
suggested changes
Aug 8, 2020
| @@ -0,0 +1,82 @@ | |||
| #include "LidarLite.h" | |||
| @@ -0,0 +1,44 @@ | |||
| //////////////////////////////////////////////////////////////////////////////// | |||
| @@ -43,6 +43,27 @@ Sensor::Sensor(ros::NodeHandle *nh, const String &topic, const int rate_hz, | |||
| } | |||
| } | |||
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| // Range message version. | |||
| @@ -17,6 +17,7 @@ | |||
| #include "Timer.h" | |||
| #include <ros.h> | |||
| #include <versavis/ImuMicro.h> | |||
| #include <versavis/RangeMicro.h> | |||
| @@ -0,0 +1,135 @@ | |||
| //////////////////////////////////////////////////////////////////////////////// | |||
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| if (uart_) | ||
| uart_->begin(115200); | ||
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Suggested change
| if (uart_) | |
| uart_->begin(115200); | |
| if (uart_) { | |
| uart_->begin(115200); | |
| } | |
| // On Arduino the Serial buffer automatically fills up with incoming data | ||
| // until the buffer is full. The best timestamp we can set is now, to | ||
| // stamp the next arriving sample after the buffer has been emptied. | ||
| Sensor::setTimestampNow(); |
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Are you sure that the data that you read in line 51 corresponds to the previous call of the function?
| @@ -0,0 +1,104 @@ | |||
| #include "ULanding.h" | |||
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In general the same comments apply as in #3, LidarLite.cpp
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| #ifdef USE_CAM2 | ||
| void TC3_Handler() { // Called by cam2_timer for camera 2 trigger. | ||
| cam2.triggerMeasurement(); | ||
| } | ||
| #endif | ||
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| #ifdef USE_U_LANDING | ||
| void TC3_Handler() { // Called by u_landing_timer for uLanding trigger. | ||
| u_landing.triggerMeasurement(); | ||
| } | ||
| #endif |
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Suggested change
| #ifdef USE_CAM2 | |
| void TC3_Handler() { // Called by cam2_timer for camera 2 trigger. | |
| cam2.triggerMeasurement(); | |
| } | |
| #endif | |
| #ifdef USE_U_LANDING | |
| void TC3_Handler() { // Called by u_landing_timer for uLanding trigger. | |
| u_landing.triggerMeasurement(); | |
| } | |
| #endif | |
| void TC3_Handler() { // Called by cam2_timer for camera 2 trigger or by u_landing_timer for uLanding trigger. | |
| #ifdef USE_CAM2 | |
| cam2.triggerMeasurement(); | |
| #endif | |
| #ifdef USE_U_LANDING | |
| u_landing.triggerMeasurement(); | |
| #endif | |
| } |
| @@ -135,7 +176,7 @@ void setup() { | |||
| ; // wait for sync | |||
| } | |||
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| // Enable TC4 (not used) and TC5 timers. | |||
| // Enable TC4 (LidarLite) and TC5 timers. | |||
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Suggested change
| // Enable TC4 (LidarLite) and TC5 timers. | |
| // Enable TC4 (LidarLite) and TC5 (IMU) timers. |
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Builds up on #3 (merge first).
This PR introduces a u landing altimeter sensor into the VersaVis repository.