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uavcannode rangefinder: add tolerance to reading too close check #24415

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uavcannode rangefinder: add tolerance to reading too close check #24415

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4 changes: 3 additions & 1 deletion src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,10 +100,12 @@ class RangeSensorMeasurement :
}

// 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) {
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