Thanks for posting this here @michaelrod!
To answer your first question, there’s not currently a great way to recalibrate those sensors in the field, and I don’t have an answer as to why you’re seeing more frequent messages from the
toffr sensor (though I’m pretty certain that’s not by design). But, assuming you’re working with an FEP prototype (let me know if that’s wrong), I’ve got a bit of information that might be useful!
First, Misty’s ToF sensors work best under electric, indoor lighting, when they’re detecting dark-colored objects in an environment that isn’t overly bright. You’ll typically see more errors in your data in bright lighting with brightly colored objects, like when you’re using Misty in a room with lots of sunshine and trying to detect the distance of a bright white wall with lots of glare. All of that’s just to say if you’re in a bright place, you’re more likely to see erroneous data.
Second, there’s an issue with FEP prototypes where the ToF apertures in the bump sensor covers can interfere with the ToF sensors, causing faulty readings. We’ve addressed that issue in the design for production units, but in your case you might try removing the front bump sensor covers and testing again to see if you get better values that way.
Also good to know: Distance values become less precise the further away Misty is from the object, with distances outside the ~1.2 meter range being too far away for the data to be very reliable. If you try bringing the object you’re detecting closer to Misty, do the readings get more precise?
And finally (promise), we’ve added a
status field to the
TimeOfFlight message in today’s system update. This field returns a code that can help you determine whether a measurement is valid, and if it’s not, it gives you a clue as to why. We just deployed that release earlier today, so it may not be available in your region for up to 48 hours. Once it is, I’d be interested to see what your status codes read