From d58c193c9078ab32a88d7c1cf36b3a7c94f4aca3 Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Thu, 22 Sep 2016 10:27:16 +0900
Subject: [PATCH] AP_RangeFinder: To define the OK status to LEDDARONE status.

---
 libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp | 4 ++--
 libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h   | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
index 6b4635ad1d..5573d2dffb 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
@@ -54,7 +54,7 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
     }
 
     // send a request message for Modbus function 4
-    if (send_request() < 0) {
+    if (send_request() != LEDDARONE_OK) {
         // TODO: handle LEDDARONE_ERR_SERIAL_PORT
         return false;
     }
@@ -162,7 +162,7 @@ int8_t AP_RangeFinder_LeddarOne::send_request(void)
     }
     uart->flush();
 
-    return 0;
+    return LEDDARONE_OK;
 }
 
  /*
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
index ad48a2d054..d83d72adcc 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
@@ -11,6 +11,7 @@
 #define LEDDARONE_DEFAULT_ADDRESS 0x01
 
 // error codes
+#define LEDDARONE_OK 0
 #define LEDDARONE_ERR_BAD_CRC -1
 #define LEDDARONE_ERR_NO_RESPONSES -2
 #define LEDDARONE_ERR_BAD_RESPONSE -3