From 5c7143a33bf8059d3c1f953aeabc9c7dd4d235f1 Mon Sep 17 00:00:00 2001
From: Alex Klimaj <alex@arkelectron.com>
Date: Tue, 4 Mar 2025 05:05:54 -0500
Subject: [PATCH] uavcannode rangefinder: add tolerance to reading too close
 check (#24415)

---
 src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp b/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
index 2ad053d9a4..134caea21a 100644
--- a/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
+++ b/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
@@ -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) {