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AP_RangeFinder: fix using labs on unsigned value subtraction

This commit is contained in:
Siddharth Purohit 2021-05-20 15:22:40 +05:30 committed by Andrew Tridgell
parent 0090d8b1c0
commit 2e41077347
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp
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@ -108,7 +108,7 @@ void AP_RangeFinder_HC_SR04::update(void)
// glitch remover: measurement is greater than .5m from last.
// the SR-04 seeems to suffer from single-measurement glitches
// which can be removed by a simple filter.
if (labs(state.distance_cm - last_distance_cm) > 50) {
if (labs(int32_t(uint32_t(state.distance_cm) - last_distance_cm)) > 50) {
// if greater for 5 readings then pass it as new height,
// otherwise use last reading
if (glitch_count++ > 4) {