AP_Proximity: SF40c driver treats zero distances as invalid

8 years ago · d636e85eac
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
@ -411,7 +411,7 @@ bool AP_Proximity_LightWareSF40C::process_reply()
				@@ -411,7 +411,7 @@ bool AP_Proximity_LightWareSF40C::process_reply()
            if (convert_angle_to_sector(angle_deg, sector)) {
                _angle[sector] = angle_deg;
                _distance[sector] = distance_m;
-                _distance_valid[sector] = true;
+                _distance_valid[sector] = is_positive(distance_m);
                _last_distance_received_ms = AP_HAL::millis();
                success = true;
                // update boundary used for avoidance