From 5f47a94e2b647a5471939624271b0c2bb47a5820 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 21 Aug 2023 10:51:28 +1000 Subject: [PATCH] AP_RangeFinder: use NaN for invalid rangefinder data --- libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp index ed7a02cfce..2feac018be 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp @@ -34,13 +34,13 @@ void AP_RangeFinder_SITL::update(void) { const float dist = AP::sitl()->get_rangefinder(_instance); - // negative distance means nothing is connected - if (is_negative(dist)) { + // nan distance means nothing is connected + if (isnan(dist)) { state.status = RangeFinder::Status::NoData; return; } - state.distance_m = dist; + state.distance_m = MAX(0, dist); state.last_reading_ms = AP_HAL::millis(); // update range_valid state based on distance measured