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AP_Proximity: validate range finder distances

This commit is contained in:
Randy Mackay 2017-05-31 16:16:26 +09:00
parent fc42fda82d
commit 0b7ec0dc64
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
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@ -45,9 +45,9 @@ void AP_Proximity_RangeFinder::update(void)
uint8_t sector = (uint8_t)rngfnd->get_orientation(i);
_angle[sector] = sector * 45;
_distance[sector] = rngfnd->distance_cm(i) / 100.0f;
_distance_valid[sector] = true;
_distance_min = rngfnd->min_distance_cm(i) / 100.0f;
_distance_max = rngfnd->max_distance_cm(i) / 100.0f;
_distance_valid[sector] = (_distance[sector] >= _distance_min) && (_distance[sector] <= _distance_max);
_last_update_ms = AP_HAL::millis();
update_boundary_for_sector(sector);
}