AP_Proximity: LD06 updates OA database with 2deg sector dist

rmackay9 · rmackay9 · commit 1438aac1966e · 2025-05-19T13:27:31.000+09:00
diff --git a/libraries/AP_Proximity/AP_Proximity_LD06.cpp b/libraries/AP_Proximity/AP_Proximity_LD06.cpp
@@ -215,8 +215,8 @@ void AP_Proximity_LD06::parse_response_data()
                 _last_angle_deg = (float)_angle_2deg;
             }
 
-            // update OA database
-            database_push(_last_angle_deg, _last_distance_m);
+            // update OA database with the 2 degree sectors distance
+            database_push(_angle_2deg, _dist_2deg_m);
 
             // advance to the next 2 degree sector
             _angle_2deg = a2d;

Original file line number	Diff line number	Diff line change
`@@ -215,8 +215,8 @@ void AP_Proximity_LD06::parse_response_data()`
`215`	`215`	`_last_angle_deg = (float)_angle_2deg;`
`216`	`216`	`}`
`217`	`217`
`218`		`- // update OA database`
`219`		`- database_push(_last_angle_deg, _last_distance_m);`
	`218`	`+ // update OA database with the 2 degree sectors distance`
	`219`	`+ database_push(_angle_2deg, _dist_2deg_m);`
`220`	`220`
`221`	`221`	`// advance to the next 2 degree sector`
`222`	`222`	`_angle_2deg = a2d;`