From c9e3118fea142e70167b2f5cf459d2704c38a29e Mon Sep 17 00:00:00 2001
From: Baardrw <98158027+Baardrw@users.noreply.github.com>
Date: Thu, 22 Jan 2026 06:45:45 +0100
Subject: [PATCH] Driver: fix mb12xx driver set address feature (#26282)

* fixed set_address function
---
 src/drivers/distance_sensor/mb12xx/mb12xx.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index da8d5321b0..402b2a32e9 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -371,7 +371,9 @@ MB12XX::set_address(const uint8_t address)
 	    address == 80  ||
 	    address == 164 ||
 	    address == 170 ||
-	    address > 224) {
+	    address > 224 ||
+	    (address % 2) != 0 ||
+	    address < MB12XX_MIN_ADDR) {
 		PX4_ERR("incompatible address requested");
 		return PX4_ERROR;
 	}
@@ -386,6 +388,8 @@ MB12XX::set_address(const uint8_t address)
 	}
 
 	set_device_address(address);
+	_sensor_addresses[0] = address;
+
 	PX4_INFO("device address: %u", get_device_address());
 	return PX4_OK;
 }
@@ -423,6 +427,7 @@ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
 	using ThisDriver = MB12XX;
 	BusCLIArguments cli{true, false};
 	cli.default_i2c_frequency = MB12XX_BUS_SPEED;
+	cli.i2c_address = MB12XX_BASE_ADDR;
 
 	const char *verb = cli.parseDefaultArguments(argc, argv);
 
@@ -431,8 +436,6 @@ extern "C" __EXPORT int mb12xx_main(int argc, char *argv[])
 		return -1;
 	}
 
-	cli.i2c_address = MB12XX_BASE_ADDR;
-
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_MB12XX);
 
 	if (!strcmp(verb, "start")) {