Refactor the LeddarOne driver to standardize against other distance sensor drivers. #11858
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…mploy uniform initialization style. Copy/paste help() and main() methods to the bottom of the file to match convention with other distance sensor drivers.
…thods that were global and to standardize the implementation against most of the other distance sensor drivers.
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…rOne::read() method.
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Bench tests compare well with PX4:master, no perceptable differences in data: PX4:master: This PR: |
… measure() method to untangle the previous logic implementation.
mcsauder
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dagar
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Jun 29, 2019
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Thank you for your review @dagar! |
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Describe problem solved by the proposed pull request
This PR refactors the LeddarOne distance sensor driver to better match other distance sensor driver implementations to allow for a future inheritance architecture.
This PR:
measure()methodTest data / coverage
This PR has been bench tested, see comments/plots below. All bench tests show identical behavior to current PX4:master branch.
Flight test data will be posted when available.
Additional context
See #9279, #11853, #11857
Please let me know if you have any questions on this PR. Thanks!
-Mark