sf45: remove useless pointer for measured distance

PX4 · Jan 10, 2025 · b05267c · b05267c
1 parent 49e7e41
commit b05267c
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Showing 2 changed files with 6 additions and 9 deletions.
diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp
@@ -135,8 +135,6 @@ int SF45LaserSerial::measure()
 
 int SF45LaserSerial::collect()
 {
-	float distance_m = -1.0f;
-
 	if (_sensor_state == STATE_UNINIT) {
 
 		perf_begin(_sample_perf);
@@ -195,8 +193,7 @@ int SF45LaserSerial::collect()
 		sf45_get_and_handle_request(payload_length, SF_DISTANCE_DATA_CM);
 
 		if (_crc_valid) {
-			sf45_process_replies(&distance_m);
-			PX4_DEBUG("val (float): %8.4f, valid: %s", (double)distance_m, ((_crc_valid) ? "OK" : "NO"));
+			sf45_process_replies();
 			perf_end(_sample_perf);
 			return PX4_OK;
 		}
@@ -591,7 +588,7 @@ void SF45LaserSerial::sf45_send(uint8_t msg_id, bool write, int32_t *data, uint8
 	}
 }
 
-void SF45LaserSerial::sf45_process_replies(float *distance_m)
+void SF45LaserSerial::sf45_process_replies()
 {
 	switch (rx_field.msg_id) {
 	case SF_DISTANCE_DATA_CM: {
@@ -639,14 +636,14 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m)
 			}
 
 			// Convert to meters for the debug message
-			*distance_m = raw_distance * SF45_SCALE_FACTOR;
+			float distance_m = raw_distance * SF45_SCALE_FACTOR;
 			_current_bin_dist = ((uint16_t)raw_distance < _current_bin_dist) ? (uint16_t)raw_distance : _current_bin_dist;
 
 			uint8_t current_bin = sf45_convert_angle(scaled_yaw);
 
 			if (current_bin != _previous_bin) {
 				PX4_DEBUG("scaled_yaw: \t %d, \t current_bin: \t %d, \t distance: \t %8.4f\n", scaled_yaw, current_bin,
-					  (double)*distance_m);
+					  (double)distance_m);
 
 				if (_vehicle_attitude_sub.updated()) {
 					vehicle_attitude_s vehicle_attitude;
@@ -656,7 +653,7 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m)
 					}
 				}
 
-				ObstacleMath::project_distance_on_horizontal_plane(*distance_m, scaled_yaw, _vehicle_attitude);
+				ObstacleMath::project_distance_on_horizontal_plane(distance_m, scaled_yaw, _vehicle_attitude);
 
 				if (_current_bin_dist > _obstacle_distance.max_distance) {
 					_current_bin_dist = _obstacle_distance.max_distance + 1; // As per ObstacleDistance.msg definition

diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp
@@ -94,7 +94,7 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
 	void				sf45_get_and_handle_request(const int payload_length, const SF_SERIAL_CMD msg_id);
 	void				sf45_send(uint8_t msg_id, bool r_w, int32_t *data, uint8_t data_len);
 	uint16_t			sf45_format_crc(uint16_t crc, uint8_t data_value);
-	void				sf45_process_replies(float *data);
+	void				sf45_process_replies();
 	uint8_t				sf45_convert_angle(const int16_t yaw);
 	float				sf45_wrap_360(float f);