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AP_Proximity: MAV driver gets distance validity check

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This commit is contained in:
Randy Mackay 2017-06-05 12:20:20 +09:00
parent 1409f0ca7e
commit 33ef3bd51d
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -65,9 +65,9 @@ void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
uint8_t sector = packet.orientation;
_angle[sector] = sector * 45;
_distance[sector] = packet.current_distance / 100.0f;
_distance_valid[sector] = true;
_distance_min = packet.min_distance / 100.0f;
_distance_max = packet.max_distance / 100.0f;
_distance_valid[sector] = (_distance[sector] >= _distance_min) && (_distance[sector] <= _distance_max);
_last_update_ms = AP_HAL::millis();
update_boundary_for_sector(sector);
}