Initial support for QT128

Signed-off-by: amc-nu <[email protected]>
tier4 · Nov 13, 2023 · 05a3b24 · 05a3b24
1 parent f71026f
commit 05a3b24
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/nebula_common/include/nebula_common/hesai/hesai_common.hpp b/nebula_common/include/nebula_common/hesai/hesai_common.hpp
@@ -393,6 +393,7 @@ inline ReturnMode ReturnModeFromStringHesai(
     case SensorModel::HESAI_PANDARXT32M:
     case SensorModel::HESAI_PANDARAT128:
     case SensorModel::HESAI_PANDAR128_E4X:
+    case SensorModel::HESAI_PANDARQT128:
       if (return_mode == "Last") return ReturnMode::LAST;
       if (return_mode == "Strongest") return ReturnMode::STRONGEST;
       if (return_mode == "LastStrongest") return ReturnMode::DUAL_LAST_STRONGEST;
@@ -426,6 +427,7 @@ inline ReturnMode ReturnModeFromIntHesai(const int return_mode, const SensorMode
     case SensorModel::HESAI_PANDARXT32M:
     case SensorModel::HESAI_PANDARAT128:
     case SensorModel::HESAI_PANDAR128_E4X:
+    case SensorModel::HESAI_PANDARQT128:
       if (return_mode == 0) return ReturnMode::LAST;
       if (return_mode == 1) return ReturnMode::STRONGEST;
       if (return_mode == 2) return ReturnMode::DUAL_LAST_STRONGEST;
@@ -458,6 +460,7 @@ inline int IntFromReturnModeHesai(const ReturnMode return_mode, const SensorMode
     case SensorModel::HESAI_PANDARXT32M:
     case SensorModel::HESAI_PANDARAT128:
     case SensorModel::HESAI_PANDAR128_E4X:
+    case SensorModel::HESAI_PANDARQT128:
       if (return_mode == ReturnMode::LAST) return 0;
       if (return_mode == ReturnMode::STRONGEST) return 1;
       if (return_mode == ReturnMode::DUAL_LAST_STRONGEST

diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -2986,7 +2986,8 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
     std::this_thread::sleep_for(100ms);
   }
 
-  if (sensor_configuration->sensor_model != SensorModel::HESAI_PANDARAT128){
+  if (sensor_configuration->sensor_model != SensorModel::HESAI_PANDARAT128
+    && sensor_configuration->sensor_model != SensorModel::HESAI_PANDARQT128) {
     set_flg = true;
     auto sync_angle = static_cast<int>(hesai_config.sync_angle / 100);
     auto scan_phase = static_cast<int>(sensor_configuration->scan_phase);