From 0d3c00cb9628c3e7abc602c5e439827751a52a8f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 30 Aug 2021 15:27:41 +0100
Subject: [PATCH] AP_Rangefinder: MAVLink: accept data only from configured
 orentation

---
 libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
index c0c78871b8..cbae721d22 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
@@ -24,8 +24,8 @@ void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
     mavlink_distance_sensor_t packet;
     mavlink_msg_distance_sensor_decode(&msg, &packet);
 
-    // only accept distances for downward facing sensors
-    if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) {
+    // only accept distances for the configured orentation
+    if (packet.orientation == orientation()) {
         state.last_reading_ms = AP_HAL::millis();
         distance_cm = packet.current_distance;
         _max_distance_cm = packet.max_distance;