fix the use of out of range reading to be consistend with ObstacleDis…

…tance msg
PX4 · Nov 12, 2024 · 6be5dd0 · 6be5dd0
1 parent 70b36f2
commit 6be5dd0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -44,7 +44,7 @@ using namespace matrix;
 
 namespace
 {
-static constexpr int INTERNAL_MAP_INCREMENT_DEG = 10; //cannot be lower than 5 degrees, should divide 360 evenly
+static constexpr int INTERNAL_MAP_INCREMENT_DEG = 5; //cannot be lower than 5 degrees, should divide 360 evenly
 static constexpr int INTERNAL_MAP_USED_BINS = 360 / INTERNAL_MAP_INCREMENT_DEG;
 
 static float wrap_360(float f)
@@ -313,7 +313,7 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
 
 	// negative values indicate out of range but valid measurements.
 	if (fabsf(distance_sensor.current_distance - -1.f) < FLT_EPSILON && distance_sensor.signal_quality == 0) {
-		distance_reading = distance_sensor.max_distance;
+		distance_reading = distance_sensor.max_distance + 1;
 	}
 
 	// discard values below min range