From 20fbfe15e681e879804253198fdc68677feeb6c7 Mon Sep 17 00:00:00 2001 From: Juan Pablo Pino Bravo Date: Wed, 29 May 2024 11:49:42 +0200 Subject: [PATCH] Disable remapping of gain in high frequency --- src/SonarDriver.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/SonarDriver.cpp b/src/SonarDriver.cpp index be144b2..f911697 100644 --- a/src/SonarDriver.cpp +++ b/src/SonarDriver.cpp @@ -175,15 +175,16 @@ void SonarDriver::handle_message(const Message::ConstPtr& message) newConfig = reinterpret_cast(data.data())->fireMessage; // feedback is broken on pingRate newConfig.pingRate = lastConfig_.pingRate; + // Apparently this is not needed anymore!! // When masterMode = 2, the sonar force gain between 40& and // 100%, BUT still needs resquested gain to be between 0% // and 100%. (If you request a gain=0 in masterMode=2, the // fireMessage in the ping results will be 40%). The gain is // rescaled here to ensure consistent parameter handling on client // side). - if (newConfig.masterMode == 2) { - newConfig.gain = (newConfig.gain - 40.0) * 100.0 / 60.0; - } + // if (newConfig.masterMode == 2) { + // newConfig.gain = (newConfig.gain - 40.0) * 100.0 / 60.0; + // } break; case MsgDummy: logger->trace("Dummy message received. Changing ping rate to standby");