AP_Proximity_MAV: healthy if either horiz or vert positions received

Yukong · Apr 20, 2017 · 09e3d6b · 09e3d6b
1 parent 3df5484
commit 09e3d6b
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/AP_Proximity/AP_Proximity_MAV.cpp b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
@@ -36,7 +36,8 @@ AP_Proximity_MAV::AP_Proximity_MAV(AP_Proximity &_frontend,
 void AP_Proximity_MAV::update(void)
 {
     // check for timeout and set health status
-    if ((_last_update_ms == 0) || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) {
+    if ((_last_update_ms == 0 || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) &&
+        (_last_upward_update_ms == 0 || (AP_HAL::millis() - _last_upward_update_ms > PROXIMITY_MAV_TIMEOUT_MS))) {
         set_status(AP_Proximity::Proximity_NoData);
     } else {
         set_status(AP_Proximity::Proximity_Good);