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AP_RangeFinder: Move the flag setting location of has_data

This commit is contained in:
muramura 2024-03-23 23:32:46 +09:00 committed by Peter Barker
parent ff29580e05
commit 8de103d6ee
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
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@ -71,8 +71,6 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
reading_m = UINT16_VALUE(buffer[3], buffer[4]) * 0.01; reading_m = UINT16_VALUE(buffer[3], buffer[4]) * 0.01;
const uint8_t snr = buffer[5]; const uint8_t snr = buffer[5];
has_data = true;
#if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS #if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
const uint32_t now_ms = AP_HAL::millis(); const uint32_t now_ms = AP_HAL::millis();
if (malfunction_alert_prev != malfunction_alert && now_ms - malfunction_alert_last_send_ms >= 1000) { if (malfunction_alert_prev != malfunction_alert && now_ms - malfunction_alert_last_send_ms >= 1000) {
@ -102,6 +100,7 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
state.status = RangeFinder::Status::NoData; state.status = RangeFinder::Status::NoData;
} }
} else { } else {
has_data = true;
state.status = RangeFinder::Status::Good; state.status = RangeFinder::Status::Good;
} }
} }