From cf1a1ec88bbf543134946543abe5a90a5d76b380 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 19 Feb 2025 13:40:55 +1100
Subject: [PATCH] AP_Rangefinder: request measurement for timer routine to
 collect

the timer routing attempts to read a reading off the bus straihgt-up, but after initialisation the sensor will not be attempting to provide one, so this will always fail.

Request a sample as the last thing we do in the init routine
---
 libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index fe034246d8..c04128649d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -97,6 +97,9 @@ bool AP_RangeFinder_TeraRangerI2C::init(void)
         return false;
     }
 
+    // ask for a new reading for the timer to collect:
+    measure();
+
     dev->get_semaphore()->give();
 
     dev->set_retries(1);