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AP_Proximity: fix proximity status for upward facing rangefinder

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Tatsuya Yamaguchi 2021-06-16 09:38:56 +09:00 committed by Randy Mackay
parent 430ac65123
commit 1954f596b8
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
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@ -75,7 +75,8 @@ void AP_Proximity_RangeFinder::update(void)
}
// check for timeout and set health status
if ((_last_update_ms == 0) || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) {
if ((_last_update_ms == 0 || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) &&
(_last_upward_update_ms == 0 || (now - _last_upward_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS))) {
set_status(AP_Proximity::Status::NoData);
} else {
set_status(AP_Proximity::Status::Good);