From 240bfeb6bd2e8e253c4070e3271ced989ee8aa0a Mon Sep 17 00:00:00 2001
From: PYBrulin <p.brulin@hexadrone.fr>
Date: Wed, 31 Mar 2021 10:56:20 +0200
Subject: [PATCH] AP_RangeFinder: TeraRangerI2C added case of out of range
 measurement

---
 libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index c6bc917e56..5f4e6c4871 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -136,8 +136,8 @@ bool AP_RangeFinder_TeraRangerI2C::process_raw_measure(uint16_t raw_distance, ui
 {
     // Check for error codes
     if (raw_distance == 0xFFFF) {
-        // Too far away is unreliable so we dont enforce max range here
-        return false;
+        // Too far away
+        output_distance_cm = max_distance_cm() + TR_OUT_OF_RANGE_ADD_CM;
     } else if (raw_distance == 0x0000) {
         // Too close
         output_distance_cm = 0;