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[ld2450] Clear all related sensors when a target is not being tracked (#13602)

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: J. Nick Koston <nick@koston.org>
This commit is contained in:
Cody Cutrer
2026-03-02 15:47:40 -10:00
committed by GitHub
co-authored by Copilot J. Nick Koston
parent c77241940b
commit ae49b67321
1 changed files with 17 additions and 10 deletions
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esphome/components/ld2450/ld2450.cpp
+17 -10
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@@ -474,15 +474,12 @@ void LD2450Component::handle_periodic_data_() {
is_moving = false;
// tx is used for further calculations, so always needs to be populated
tx = ld2450::decode_coordinate(this->buffer_data_[start], this->buffer_data_[start + 1]);
SAFE_PUBLISH_SENSOR(this->move_x_sensors_[index], tx);
// Y
start = TARGET_Y + index * 8;
ty = ld2450::decode_coordinate(this->buffer_data_[start], this->buffer_data_[start + 1]);
SAFE_PUBLISH_SENSOR(this->move_y_sensors_[index], ty);
// RESOLUTION
start = TARGET_RESOLUTION + index * 8;
res = (this->buffer_data_[start + 1] << 8) | this->buffer_data_[start];
SAFE_PUBLISH_SENSOR(this->move_resolution_sensors_[index], res);
#endif
// SPEED
start = TARGET_SPEED + index * 8;
@@ -491,9 +488,6 @@ void LD2450Component::handle_periodic_data_() {
is_moving = true;
moving_target_count++;
}
#ifdef USE_SENSOR
SAFE_PUBLISH_SENSOR(this->move_speed_sensors_[index], ts);
#endif
// DISTANCE
// Optimized: use already decoded tx and ty values, replace pow() with multiplication
int32_t x_squared = (int32_t) tx * tx;
@@ -503,10 +497,23 @@ void LD2450Component::handle_periodic_data_() {
target_count++;
}
#ifdef USE_SENSOR
SAFE_PUBLISH_SENSOR(this->move_distance_sensors_[index], td);
// ANGLE - atan2f computes angle from Y axis directly, no sqrt/division needed
angle = atan2f(static_cast<float>(-tx), static_cast<float>(ty)) * (180.0f / std::numbers::pi_v<float>);
SAFE_PUBLISH_SENSOR(this->move_angle_sensors_[index], angle);
if (td == 0) {
SAFE_PUBLISH_SENSOR_UNKNOWN(this->move_x_sensors_[index]);
SAFE_PUBLISH_SENSOR_UNKNOWN(this->move_y_sensors_[index]);
SAFE_PUBLISH_SENSOR_UNKNOWN(this->move_resolution_sensors_[index]);
SAFE_PUBLISH_SENSOR_UNKNOWN(this->move_speed_sensors_[index]);
SAFE_PUBLISH_SENSOR_UNKNOWN(this->move_distance_sensors_[index]);
SAFE_PUBLISH_SENSOR_UNKNOWN(this->move_angle_sensors_[index]);
} else {
SAFE_PUBLISH_SENSOR(this->move_x_sensors_[index], tx);
SAFE_PUBLISH_SENSOR(this->move_y_sensors_[index], ty);
SAFE_PUBLISH_SENSOR(this->move_resolution_sensors_[index], res);
SAFE_PUBLISH_SENSOR(this->move_speed_sensors_[index], ts);
SAFE_PUBLISH_SENSOR(this->move_distance_sensors_[index], td);
// ANGLE - atan2f computes angle from Y axis directly, no sqrt/division needed
angle = atan2f(static_cast<float>(-tx), static_cast<float>(ty)) * (180.0f / std::numbers::pi_v<float>);
SAFE_PUBLISH_SENSOR(this->move_angle_sensors_[index], angle);
}
#endif
#ifdef USE_TEXT_SENSOR
// DIRECTION