From 6c1566636852d75984ec8744127f34cb87a2fc31 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Wed, 26 Apr 2017 16:32:06 +0200 Subject: [PATCH] ekf2: accept min/max range --- 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 bdf3620099..b88a2b85be 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -506,8 +506,8 @@ void Ekf2::task_main() 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; } }