修改SCL角度二级解析公式

YDLIDAR · Nov 28, 2023 · 5c9ced1 · 5c9ced1
1 parent 518b7a6
commit 5c9ced1
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Showing 4 changed files with 11 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,7 +5,7 @@ project(ydlidar_sdk C CXX)
 # version
 set(YDLIDAR_SDK_VERSION_MAJOR 1)
 set(YDLIDAR_SDK_VERSION_MINOR 1)
-set(YDLIDAR_SDK_VERSION_PATCH 20)
+set(YDLIDAR_SDK_VERSION_PATCH 21)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################

diff --git a/samples/sdm_test.cpp b/samples/sdm_test.cpp
@@ -187,7 +187,7 @@ int main(int argc, char *argv[])
   f_optvalue = 0.025f;
   laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float));
   /// unit: Hz
-  float frequency = 100.0;
+  float frequency = 250.0;
   laser.setlidaropt(LidarPropScanFrequency, &frequency, sizeof(float));
 
   // 雷达初始化

diff --git a/samples/tri_test.cpp b/samples/tri_test.cpp
@@ -217,6 +217,7 @@ int main(int argc, char *argv[])
   laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
   /// sample rate
   optval = isSingleChannel ? 3 : 4;
+  optval = 5;
   laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int));
   /// abnormal count
   optval = 4;
@@ -227,21 +228,24 @@ int main(int argc, char *argv[])
 
   //////////////////////bool property/////////////////
   /// fixed angle resolution
-  bool b_optvalue = true;
+  bool b_optvalue = false;
   laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
   /// rotate 180
+  b_optvalue = false;
   laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool));
   /// Counterclockwise
+  b_optvalue = false;
   laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool));
   b_optvalue = true;
   laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool));
   /// one-way communication
+  b_optvalue = false;
   laser.setlidaropt(LidarPropSingleChannel, &isSingleChannel, sizeof(bool));
   /// intensity
   b_optvalue = false;
   laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
   /// Motor DTR
-  b_optvalue = false;
+  b_optvalue = true;
   laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool));
   /// HeartBeat
   b_optvalue = false;

diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
@@ -1294,8 +1294,9 @@ void YDlidarDriver::parseNodeFromeBuffer(node_info *node)
             else if (isSCLLidar(m_LidarType) || 
                 isSCLLidar2(model))
             {
-                //SCL雷达角度二级解析公式（α = asind（17.8/dist））
-                correctAngle = int32_t(asin(17.8 / node->dist) * 180.0 / M_PI * 64.0);
+                //SCL雷达角度二级解析公式
+                //correctAngle = int32_t(asin(17.8 / node->dist) * 180.0 / M_PI * 64.0);
+                correctAngle = int32_t(atan(17.8 / (node->dist / 4.0)) * 180.0 / M_PI * 64.0);
                 // printf("SCL correct angle [%d]\n", correctAngle);
             }
             else if (isTriangleLidar(m_LidarType) &&