Fix obstacle distance #1700
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Fix obstacle distance #1700
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Hi!
This PR contains two bugfix in the /mavros_extras/src/plugins/obstacle_distance.cpp file.
The first one corrects the way the reduction of size of the LaserScan is done.
The code should redux the resolution of the array to adjust to the mavlink OBSTACLE_DISTANCE message (72 values) taking the minimum value as aggregation function of the interpolation.
The scale_factor was taken as integer, so the interpolation worked wrong.
This image shows the error and the fix:
The second bugfix assigns a value to increment_f in case the size of the input LaserScan is bigger than the mavlink OBSTACLE_DISTANCE message.
This was missing, so ardupilot was usgin the value of increment (and NOT increment_f), showing wrong objects.