Revision: 6424
http://playerstage.svn.sourceforge.net/playerstage/?rev=6424&view=rev
Author: thjc
Date: 2008-05-11 15:31:33 -0700 (Sun, 11 May 2008)
Log Message:
-----------
made quality level that is considered a stall configurable (Thanks to Andrew
Graham)
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/position/nav200/sicknav200.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/position/nav200/sicknav200.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/position/nav200/sicknav200.cc
2008-05-11 20:25:13 UTC (rev 6423)
+++
code/player/branches/release-2-1-patches/server/drivers/position/nav200/sicknav200.cc
2008-05-11 22:31:33 UTC (rev 6424)
@@ -190,6 +190,9 @@
// the current quality report
IntProperty Quality;
+ // the threshold for quality. Treat anything less than this threshold
as a stall
+ IntProperty QualityThreshold;
+
// number of values for slifing mean
IntProperty SmoothingInput;
@@ -256,6 +259,7 @@
AutoFullMapCount("autofullmapcount", 0, false, this, cf, section),
StallCount(0),
Quality("quality", 0,true, this, cf, section),
+ QualityThreshold("quality_threshold", 0,true, this, cf, section),
SmoothingInput("smoothing_input", 4, false, this, cf, section),
NavUpdateRequestDelay("update_request_delay",DEFAULT_NAV_REQUEST_DELAY_USECS,false,this,cf,section),
TimingLogFilename("timing_log","",true,this,cf,section),
@@ -723,7 +727,7 @@
//printf("Got reading: quality %d\n", Reading.quality);
if (Reading.quality==0xFF || Reading.quality==0xFE
- || Reading.quality==0x00) {
+ || Reading.quality<=QualityThreshold) {
data_packet.stall = 1;
StallCount = StallCount + 1;
Quality = 0;
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