ArduPilot/ardupilot

RangeFinder: Using existing Analog offset for other interfaces (I2C or Serial)

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#9,873 opened on Nov 21, 2018

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Description

Feature request

Expand rangefinder offset

Is your feature request related to a problem? Please describe. Need some easy fix to adjust sensor offset. For example, the Garmin Lidar Lite, has an offset of approx. 25 cm on low range, and users do not have a mean to compensate.

Describe the solution you'd like Just tested using the existing analog offset within this code https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp#L94

uint16_t _distance_cm = be16toh(val);
float offset  = state.offset;
// remove momentary spikes
if (abs(_distance_cm - last_distance_cm) < 100) {
    state.distance_cm = (_distance_cm-offset);

Platform [x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

Contributor guide

Research direction
Extend the existing offset logic from the PulsedLightLRF driver to other rangefinder interfaces (I2C, Serial) by applying the offset after distance calculation in each driver's update method.
Tech stack
cpp
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++ArduPilot rangefinder code
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
70