AP_Proximity: get_status() returns first good sensor status #25913
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davidbuzz
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How about removing the check of proximity sensor status from AC_Avoid and just rely on the _proximity.get_obstacle_count() working correctly? As long as get_obstacle_count() properly handles a proximity sensor failing and does not return stale values then it should be sufficient. If it does keep returning stale values then we still have a problem even after this PR's fix. |
rishabsingh3003
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Thanks, Randy. I have implemented what you have have asked in your comment and verified in SITL that it works as expected. |
rishabsingh3003
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| AP_Proximity::Status AP_Proximity::get_status() const | ||
| { | ||
| Status sensors_status = Status::NotConnected; |
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We don't really need this out here; could have a constant return value and a more-local variable introduced for get_instance_status
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I kept it that way because the status could be "not connected" or "no data".. I would like the sensor to return the value that is true for a sensor, rather than an arbitrary constant
rishabsingh3003
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Thanks, added the MergeOnCIPass... |
Currently, if multiple proximity sensors are configured and any one stops working, avoidance stops working. This can be dangerous as we still have some good sensors that might be available.
This will fix the issue.