AP_SurfaceDistance: allow for more than 327m range rangefinders

ArduPilot · Oct 11, 2024 · aba4763 · aba4763
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commit aba4763
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/libraries/AP_SurfaceDistance/AP_SurfaceDistance.cpp b/libraries/AP_SurfaceDistance/AP_SurfaceDistance.cpp
@@ -69,7 +69,7 @@ void AP_SurfaceDistance::update()
     }
 
     // tilt corrected but unfiltered, not glitch protected alt
-    alt_cm = tilt_correction * rangefinder->distance_cm_orient(rotation);
+    alt_cm = tilt_correction * rangefinder->distance_orient(rotation)*100;
 
     // remember inertial alt to allow us to interpolate rangefinder
     inertial_alt_cm = inertial_nav.get_position_z_up_cm();

diff --git a/libraries/AP_SurfaceDistance/AP_SurfaceDistance.h b/libraries/AP_SurfaceDistance/AP_SurfaceDistance.h
@@ -26,10 +26,10 @@ class AP_SurfaceDistance {
 
     bool enabled;                          // not to be confused with rangefinder enabled, this state is to be set by the vehicle.
     bool alt_healthy;                      // true if we can trust the altitude from the rangefinder
-    int16_t alt_cm;                        // tilt compensated altitude (in cm) from rangefinder
+    int32_t alt_cm;                        // tilt compensated altitude (in cm) from rangefinder
     float inertial_alt_cm;                 // inertial alt at time of last rangefinder sample
     LowPassFilterFloat alt_cm_filt {0.5};  // altitude filter
-    int16_t alt_cm_glitch_protected;       // last glitch protected altitude
+    int32_t alt_cm_glitch_protected;       // last glitch protected altitude
     int8_t glitch_count;                   // non-zero number indicates rangefinder is glitching
     uint32_t glitch_cleared_ms;            // system time glitch cleared
     float terrain_offset_cm;               // filtered terrain offset (e.g. terrain's height above EKF origin)