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AP_Proximity_MAV: healthy if either horiz or vert positions received

This commit is contained in:
Randy Mackay 2017-04-12 17:59:40 +09:00
parent 3df5484a39
commit 09e3d6b7f0
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -36,7 +36,8 @@ AP_Proximity_MAV::AP_Proximity_MAV(AP_Proximity &_frontend,
void AP_Proximity_MAV::update(void)
{
// check for timeout and set health status
if ((_last_update_ms == 0) || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) {
if ((_last_update_ms == 0 || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) &&
(_last_upward_update_ms == 0 || (AP_HAL::millis() - _last_upward_update_ms > PROXIMITY_MAV_TIMEOUT_MS))) {
set_status(AP_Proximity::Proximity_NoData);
} else {
set_status(AP_Proximity::Proximity_Good);