测距如果state无效，则给距离赋值最大或者最小

ArduCopter/zr_flight.cpp

@@ -149,8 +149,10 @@ void Copter::do_avoid_action(){
         AP_Proximity *proximity = AP::proximity();
         if(proximity == nullptr)
             return;
-        proximity->get_horizontal_distance(0,proxy_dist);
-
+        bool get_new_dist = proximity->get_horizontal_distance(0,proxy_dist);
+        if(get_new_dist == false){
+            proxy_dist = avoid.get_zr_avd_max() + 1.0;
+        }
     }
     if(avoid.get_zr_mode() == 2){
         uint16_t rc10_in = RC_Channels::rc_channel(CH_12)->get_radio_in();

libraries/AP_RangeFinder/RangeFinder_Backend.cpp

@@ -75,7 +75,12 @@ void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_Status _status)
         if (state.range_valid_count < 10) {
             state.range_valid_count++;
         }
-    } else {
+    }else{
+        if(_status == RangeFinder::RangeFinder_OutOfRangeHigh){
+            state.distance_cm = params.max_distance_cm;
+        }else{
+            state.distance_cm = params.min_distance_cm;
+        }
         state.range_valid_count = 0;
     }
 }