From 494af2b0671f59e182e6b224ca283131e6117e46 Mon Sep 17 00:00:00 2001
From: Paul Wieland <p@ul.sickdimension.com>
Date: Sun, 29 Dec 2024 22:08:28 -0500
Subject: [PATCH] Fix out of range data

---
 components/ratgdo/sensor/ratgdo_sensor.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/components/ratgdo/sensor/ratgdo_sensor.cpp b/components/ratgdo/sensor/ratgdo_sensor.cpp
index b97863d..8a5217f 100644
--- a/components/ratgdo/sensor/ratgdo_sensor.cpp
+++ b/components/ratgdo/sensor/ratgdo_sensor.cpp
@@ -80,7 +80,7 @@ namespace ratgdo {
             VL53L4CX_MultiRangingData_t* pDistanceData = &distanceData;
             uint8_t dataReady = 0;
             int objCount = 0;
-            int16_t maxDistance = 0;
+            int16_t maxDistance = -1;
             int status;
 
             if (this->distance_sensor_.VL53L4CX_GetMeasurementDataReady(&dataReady) == 0 && dataReady) {
@@ -91,6 +91,7 @@ namespace ratgdo {
                     VL53L4CX_TargetRangeData_t *d = &pDistanceData->RangeData[i];
                     if (d->RangeStatus == 0) {
                         maxDistance = std::max(maxDistance, d->RangeMilliMeter);
+                        maxDistance = maxDistance <= 25 ? -1 : maxDistance; // ignore the dust protection sticker
                     }
                 }