From e434534a62e33a50417d0d93ac34feeeac8d60ba Mon Sep 17 00:00:00 2001 From: Niklas Hauser Date: Thu, 13 Feb 2025 18:08:25 +0100 Subject: [PATCH] [ulanding_radar] Workaround for lost messages by lowering sampling rate The current implementation of the Aerotenna uLanding radar driver assumes that the UART frames are received in full. If the driver polls with 10ms this is not always the case and the driver will fail to parse the frame leading to significant packet loss. This workaround polls at 12ms which ensures that at least one entire frame is received. --- .../distance_sensor/ulanding_radar/AerotennaULanding.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp index dc133254bfc0..98d1c0ab9044 100644 --- a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp +++ b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp @@ -56,7 +56,7 @@ using namespace time_literals; -#define ULANDING_MEASURE_INTERVAL 10_ms +#define ULANDING_MEASURE_INTERVAL 12_ms #define ULANDING_MAX_DISTANCE 50.0f #define ULANDING_MIN_DISTANCE 0.315f #define ULANDING_VERSION 1