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RangeFinder_MaxSonar: set status

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This commit is contained in:
Randy Mackay 2015-04-13 15:08:00 +09:00
parent e212ebb0d0
commit fadfa70e99
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
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@ -116,5 +116,10 @@ bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm)
*/
void AP_RangeFinder_MaxsonarI2CXL::update(void)
{
state.healthy = get_reading(state.distance_cm);
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
update_status();
} else {
set_status(RangeFinder::RangeFinder_NoData);
}
}