From 06f9c6a210d7935dc3a6cd76f790bac73ea98d0a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 3 Feb 2020 10:48:47 +0900
Subject: [PATCH] AP_RangeFinder: fix offset param for PWM driver

---
 libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
index 3fd253be15..d6c7269955 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
@@ -166,14 +166,14 @@ void AP_RangeFinder_PWM::update(void)
     }
 
     if (!get_reading(state.distance_cm)) {
-        // add offset
-        state.distance_cm += params.offset;
         // failure; consider changing our state
         if (AP_HAL::millis() - state.last_reading_ms > 200) {
             set_status(RangeFinder::RangeFinder_NoData);
         }
         return;
     }
+    // add offset
+    state.distance_cm += params.offset;
 
     // update range_valid state based on distance measured
     state.last_reading_ms = AP_HAL::millis();