From cecc21c6478218832179793aa0913b03c8687b75 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Sat, 3 Aug 2024 12:42:20 +0200
Subject: [PATCH] fixed rangefinder simulation

---
 src/uav_system_ros.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/uav_system_ros.cpp b/src/uav_system_ros.cpp
index f9801c0..d362c88 100644
--- a/src/uav_system_ros.cpp
+++ b/src/uav_system_ros.cpp
@@ -409,7 +409,7 @@ void UavSystemRos::publishRangefinder(const MultirotorModel::State &state) {
   double range_measurement;
 
   if (body_z(2) > 0) {
-    range_measurement = (state.x(2) - model_params_.ground_z) / cos(tilt) + 0.10;
+    range_measurement = (state.x(2) - model_params_.ground_z) / cos(tilt);
   } else {
     range_measurement = std::numeric_limits<double>::max();
   }
@@ -423,7 +423,7 @@ void UavSystemRos::publishRangefinder(const MultirotorModel::State &state) {
   range.header.frame_id = _frame_rangefinder_;
   range.header.stamp    = ros::Time::now();
   range.max_range       = 40.0;
-  range.min_range       = 0.05;
+  range.min_range       = 0.0;
   range.range           = range_measurement;
   range.radiation_type  = range.INFRARED;
   range.field_of_view   = 0.01;