sf45: fix small error from rebase.

src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp

@@ -681,7 +681,7 @@ void SF45LaserSerial::_publish_obstacle_msg(hrt_abstime now)
 	_obstacle_distance_pub.publish(_obstacle_distance);
 }
 
-void SF45LaserSerial::_handle_missed_bins(int current_bin, int previous_bin, uint16_t measurement,
+void SF45LaserSerial::_handle_missed_bins(uint16_t current_bin, uint16_t previous_bin, uint16_t measurement,
 		hrt_abstime now)
 {
 	// if the sensor has its cycle delay configured for a low value like 5, it can happen that not every bin gets a measurement.
@@ -702,24 +702,6 @@ void SF45LaserSerial::_handle_missed_bins(int current_bin, int previous_bin, uin
 		uint16_t bin_index = ObstacleMath::get_offset_bin_index(i, _obstacle_distance.increment, -fov_offset_angle);
 		_obstacle_distance.distances[bin_index] = measurement;
 		_data_timestamps[bin_index] = now;
-	uint8_t start;
-	uint8_t end;
-
-	// Shift bin indices such that we can never have the wrap-around case.
-	float    fov_offset_angle    = 360.0f - SF45_FIELDOF_VIEW / 2;
-	int current_bin_offset  = ObstacleMath::get_offset_bin_index(current_bin,  _obstacle_distance.increment,
-				  fov_offset_angle);
-	int previous_bin_offset = ObstacleMath::get_offset_bin_index(previous_bin, _obstacle_distance.increment,
-				  fov_offset_angle);
-
-	int start = math::min(current_bin_offset, previous_bin_offset) + 1;
-	int end   = math::max(current_bin_offset, previous_bin_offset);
-
-	// populate the missed bins with the measurement
-	for (uint16_t i = start; i < end; i++) {
-		int bin_index = ObstacleMath::get_offset_bin_index(i, _obstacle_distance.increment, -fov_offset_angle);
-		_obstacle_distance.distances[bin_index] = measurement;
-		_data_timestamps[bin_index] = now;
 	}
 }
 

src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp

@@ -108,7 +108,7 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
 	int				collect();
 	bool				_crc_valid{false};
 
-	void 				_handle_missed_bins(int current_bin, int previous_bin, uint16_t measurement, hrt_abstime now);
+	void 				_handle_missed_bins(uint16_t current_bin, uint16_t previous_bin, uint16_t measurement, hrt_abstime now);
 	void 				_publish_obstacle_msg(hrt_abstime now);
 	uORB::Subscription 		_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uint64_t			_data_timestamps[BIN_COUNT];