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AP_RangeFinder: Remove range enforcement on out of range

This commit is contained in:
pierre-louis.k 2018-08-03 16:42:52 +02:00 committed by Randy Mackay
parent ec21de5ed9
commit ffe854063b
1 changed files with 5 additions and 4 deletions
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9
libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
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@ -125,8 +125,8 @@ bool AP_RangeFinder_TeraRangerI2C::collect_raw(uint16_t &raw_distance)
if (d[2] != crc_crc8(d, 2)) { if (d[2] != crc_crc8(d, 2)) {
return false; return false;
} else { } else {
raw_distance = ((uint16_t(d[0]) << 8) | d[1]); raw_distance = ((uint16_t(d[0]) << 8) | d[1]);
return true; return true;
} }
} }
@ -135,11 +135,12 @@ bool AP_RangeFinder_TeraRangerI2C::process_raw_measure(uint16_t raw_distance, ui
{ {
// Check for error codes // Check for error codes
if (raw_distance == 0xFFFF) { if (raw_distance == 0xFFFF) {
// Too far away // Too far away is unreliable so we dont enforce max range here
return false; return false;
} else if (raw_distance == 0x0000) { } else if (raw_distance == 0x0000) {
// Too close // Too close
return false; output_distance_cm = state.min_distance_cm;
return true;
} else if (raw_distance == 0x0001) { } else if (raw_distance == 0x0001) {
// Unable to measure // Unable to measure
return false; return false;