AP_RangeFinder: benewake tfmini always provide cm distances #9864
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a misunderstanding of the datasheet led to the mistaken idea that while in short-range-mode the distances were returned in millimeters
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I guess I've misunderstood the datasheet too then, because I read it when I reviewed your initial work on the driver and I'm sure I understood that mm difference too. I don't have the datasheet anymore to re-check it though, but if our understanding was wrong, then PR LGTM. |
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Great, thanks for the review, merged! |
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Fourth time lucky?
Another small fix to the Benewake TFmini driver. Somehow I misunderstood the data sheet regarding "mode 2" (short distance mode) and thought that in this mode the distances were provided in millimeters. In fact, the sensor always provides the distance in cm.
In case it matters, there are apparently two versions of the firmware for the Benewake TFmini lidar, and the version that I have never goes into "mode 2" which somewhat explains why I never noticed the problem during testing.