From 3a347374c832cabb5e29682258b04aafecc1ee99 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Mon, 22 Aug 2022 23:23:43 +0530
Subject: [PATCH] AP_Proximity: Cycle through all drivers to check for upward
 distance

---
 libraries/AP_Proximity/AP_Proximity.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 6b174b7b2d..54799e05bd 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -392,7 +392,14 @@ bool AP_Proximity::get_upward_distance(uint8_t instance, float &distance) const
 
 bool AP_Proximity::get_upward_distance(float &distance) const
 {
-    return get_upward_distance(primary_instance, distance);
+    // get upward distance from backend
+    for (uint8_t i=0; i<num_instances; i++) {
+        // return first good upward distance
+        if (get_upward_distance(primary_instance, distance)) {
+            return true;
+        }
+    }
+    return false;
 }
 
 #if HAL_LOGGING_ENABLED