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fix(drivers): handle AS-DT1 Max Distance Bins (#27778)

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Co-authored-by: Sean Hickey <sean@ascendengineer.com>
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Sean Hickey
2026-07-01 09:55:51 -05:00
committed by GitHub
parent f17f70be6f
commit e47a2411f1
1 changed files with 7 additions and 1 deletions
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8
src/drivers/distance_sensor/sony/sony_asdt1.cpp
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@@ -1332,6 +1332,8 @@ int AS_DT1::process_frame(const uint8_t *frame, size_t length)
_obstacle_distance.distances[i] = UINT16_MAX;
}
const uint16_t no_obstacle_cm = _obstacle_distance.max_distance + 1;
// Only publish the rows that cover the horizontal band used by obstacle_distance.
for (size_t sample = 0; sample < sample_count; sample++) {
const int layout_index = sample_to_layout_index(sample, _range_mode);
@@ -1352,6 +1354,10 @@ int AS_DT1::process_frame(const uint8_t *frame, size_t length)
continue;
}
if (_obstacle_distance.distances[bin] == UINT16_MAX) {
_obstacle_distance.distances[bin] = no_obstacle_cm;
}
const uint32_t z_raw = decode_20bit_raw(frame, sample);
if (z_raw == 0) {
@@ -1370,7 +1376,7 @@ int AS_DT1::process_frame(const uint8_t *frame, size_t length)
_obstacle_distance.max_distance + 1 : distance_cm;
if (obstacle_distance_cm < _obstacle_distance.distances[bin]) {
if (_obstacle_distance.distances[bin] == UINT16_MAX) {
if (_obstacle_distance.distances[bin] > _obstacle_distance.max_distance) {
_last_valid_bins++;
}