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uavcannode rangefinder: add tolerance to reading too close check (#24415)

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Alex Klimaj 2025-03-04 05:05:54 -05:00 committed by GitHub
parent 71d514d359
commit 5c7143a33b
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1 changed files with 3 additions and 1 deletions
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src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
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@ -100,10 +100,12 @@ public:
}
// reading_type
const float tolerance = 1e-6;
if (dist.current_distance > dist.max_distance) {
range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_FAR;
} else if (dist.current_distance < dist.min_distance) {
} else if (dist.current_distance < dist.min_distance - tolerance) {
range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_CLOSE;
} else if (dist.signal_quality != 0) {