From aefbd80b5394e8926e3d7d7d62e7c8bb129fef9f Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 9 Sep 2021 17:38:47 +0200
Subject: [PATCH] mavlink: use optical flow limits from params

This makes more sense than hard-coding arbitrary values.
---
 src/modules/mavlink/mavlink_receiver.cpp | 4 ++--
 src/modules/mavlink/mavlink_receiver.h   | 4 +++-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6690821edb..713e2dc9d5 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -829,8 +829,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 		device_id.devid_s.address = msg->sysid;
 
 		d.timestamp = f.timestamp;
-		d.min_distance = 0.3f;
-		d.max_distance = 5.0f;
+		d.min_distance = _param_ekf2_min_rng.get();
+		d.max_distance = _param_ekf2_rng_a_hmax.get();
 		d.current_distance = flow.distance; /* both are in m */
 		d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
 		d.device_id = device_id.devid;
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 55fb16df96..d81c361d53 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -403,7 +403,9 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::BAT_CRIT_THR>)     _param_bat_crit_thr,
 		(ParamFloat<px4::params::BAT_EMERGEN_THR>)  _param_bat_emergen_thr,
-		(ParamFloat<px4::params::BAT_LOW_THR>)      _param_bat_low_thr
+		(ParamFloat<px4::params::BAT_LOW_THR>)      _param_bat_low_thr,
+		(ParamFloat<px4::params::EKF2_MIN_RNG>)     _param_ekf2_min_rng,
+		(ParamFloat<px4::params::EKF2_RNG_A_HMAX>)  _param_ekf2_rng_a_hmax
 	);
 
 	// Disallow copy construction and move assignment.