AP_RangeFinder: populate last_reading_ms in the backend for some sensors #27620
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@rishabsingh3003 this only affect AP_Periph or are we losing readings on regular vehicles as well? |
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Is there a reason why this didn't end up getting merged? Edit: Just tried this with an AP_Periph CAN Node L431 and an I2C Lightware SF000 and it didn't work. The RNGFND1_TYPE parameter just doesn't appear. |
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@rubenp02 RNGFND1_TYPE not showing up is likely a hwdef/firware build issue unrelated to this PR. |
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This was noticed when trying to use Lightware LW20 I2C with AP_Periph. The Rangefinder support inside AP_Periph checks for the backends last update time so that we don't send duplicates:
https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Periph/rangefinder.cpp#L67
I did a drive-through of all the other backend and it looks like only one other backend suffers from the issue.
This problem has been reported a few times in the past: https://discuss.ardupilot.org/t/ap-periph-not-working-with-lightwarei2c/95913