From fd5bb9e69c0d68fb7d030b52dd5bfc62ec7209a8 Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Fri, 14 Feb 2025 09:49:36 -0700
Subject: [PATCH] uavcannode rangefinder: only publish reading too far or too
 close if less than or greater than. Not equal to.

---
 src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp b/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
index 129bd32c21..2ad053d9a4 100644
--- a/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
+++ b/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
@@ -100,10 +100,10 @@ public:
 			}
 
 			// reading_type
-			if (dist.current_distance >= dist.max_distance) {
+			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) {
 				range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_CLOSE;
 
 			} else if (dist.signal_quality != 0) {