From 02ea10ed99934f219dcea85ad27b7e3e404e02ef Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Mon, 31 Jul 2017 15:37:32 +0200 Subject: [PATCH] range finder: reject if min/max value --- src/modules/ekf2/ekf2_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 624d5d632d..61caf36133 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -554,8 +554,8 @@ void Ekf2::run() if (range_finder_updated) { orb_copy(ORB_ID(distance_sensor), range_finder_sub, &range_finder); - if (range_finder.min_distance > range_finder.current_distance - || range_finder.max_distance < range_finder.current_distance) { + if (range_finder.min_distance >= range_finder.current_distance + || range_finder.max_distance <= range_finder.current_distance) { range_finder_updated = false; } }