Change #defines to static constexpr types in LidateLite.h, updated th…

…e docs link in ll40ls.cpp, and shortened comments to allow uniform indentation in LidarLiteI2C.h.
PX4 · Sep 27, 2019 · 4f71c4e · 4f71c4e
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Showing 3 changed files with 10 additions and 11 deletions.
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLite.h b/src/drivers/distance_sensor/ll40ls/LidarLite.h
@@ -46,17 +46,16 @@
 
 using namespace time_literals;
 
-/* Device limits */
-#define LL40LS_MIN_DISTANCE    (0.05f)
-#define LL40LS_MAX_DISTANCE    (25.00f)
-#define LL40LS_MAX_DISTANCE_V2 (35.00f)
-
+// Device limits
+static constexpr float LL40LS_MIN_DISTANCE{0.05f};
+static constexpr float LL40LS_MAX_DISTANCE{25.00f};
+static constexpr float LL40LS_MAX_DISTANCE_V2{35.00f};
 
 // Normal conversion wait time.
-#define LL40LS_CONVERSION_INTERVAL 50_ms
+static constexpr uint32_t LL40LS_CONVERSION_INTERVAL{50_ms};
 
 // Maximum time to wait for a conversion to complete.
-#define LL40LS_CONVERSION_TIMEOUT 100_ms
+static constexpr uint32_t LL40LS_CONVERSION_TIMEOUT{100_ms};
 
 class LidarLite
 {

diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
@@ -73,9 +73,9 @@ static constexpr uint8_t LL40LS_SIG_COUNT_VAL_MAX     = 0xFF; /* Maximum acquisi
 static constexpr int LL40LS_SIGNAL_STRENGTH_MIN_V3HP  = 70;  /* Min signal strength for V3HP */
 static constexpr int LL40LS_SIGNAL_STRENGTH_MAX_V3HP  = 255; /* Max signal strength for V3HP */
 
-static constexpr int LL40LS_SIGNAL_STRENGTH_LOW = 24;  /* Minimum relative signal strength for a valid measurement */
-static constexpr int LL40LS_PEAK_STRENGTH_LOW   = 135; /* Minimum peak strength raw value for accepting a measurement */
-static constexpr int LL40LS_PEAK_STRENGTH_HIGH  = 234; /* Max peak strength raw value */
+static constexpr int LL40LS_SIGNAL_STRENGTH_LOW       = 24;  /* Minimum signal strength for a valid measurement */
+static constexpr int LL40LS_PEAK_STRENGTH_LOW         = 135; /* Minimum peak strength for accepting a measurement */
+static constexpr int LL40LS_PEAK_STRENGTH_HIGH        = 234; /* Max peak strength raw value */
 
 
 class LidarLiteI2C : public LidarLite, public device::I2C, public px4::ScheduledWorkItem

diff --git a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
@@ -231,7 +231,7 @@ I2C bus driver for LidarLite rangefinders.
 
 The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
 
-Setup/usage information: https://docs.px4.io/v1.9.0/en/sensor/lidar_lite.htmls
+Setup/usage information: https://docs.px4.io/en/sensor/lidar_lite.html
 
 ### Examples