Copter: fixed landing gear deploys and retracts when rangefinder is out of range

[4dri4anxD]

When the drone height exceeds the working range of the rangefinder, the status of the range finder is set to OutOfRangeLow even if the drone height is greater than the maximum distance the rangefinder can detect, this causes the drone height to be set to 0 and the landing gear to deploy and then retract and so on infinitely. In the modified part, the value detected by the rangefinder when it goes out of the working range defined by the parameters RNGFND_MIN_CM and RNGFND_MAX_CM is ignored to take into account other values.

[IamPete1]

Do you have a log? Which rangefinder are you using. It sounds to me like it should be reporting OutOfRangeHigh not OutOfRangeLow if it is too high?

[4dri4anxD]

Sure.
I agree it should be reporting OutOfRangeHigh, but its measurement becomes unpredictable over its maximum detection distance (which is 40 mts).
I'm using a Garmin LidarLiteV3-I2C
Landing gear is on RCOU9 on both logs
I'm attaching as well some screenshots of the graphs:

Rangefinder graph, in the middle part it flies higher than 40 meters and its measurement alternates between 0 and the actual value.

Landing gear graph (RCOU9), in deploys and retracts in a loop because it depends on the value of the rangefinder.

This is the altitude of the drone (this is how rangefinder graph should look like):

After making the modifications, this is the result:
Rangefinder is the same, becoming unpredictable if flying higher than its maximum working distance:

This is landing gear, it deploys and retracts only when it should, because it is not depending on Rangefinder measurements when it goes out of range:

And this is the real altitude of the drone:

Here are the logs:

Landing gear issue:
LandingGear_issue.zip

After code changes:
LandingGear_fixed.zip

[peterbarker]

This doesn't look right to me.

A RangeFinder returning out-of-range-low should definitely be deploying landing gear!

You might propose using above-home for out-of-range-high, but it seems unusual too.

[4dri4anxD]

But RangeFinder is alternating between out-of-range-low and out-of-range-high when going higher than its maximum detection distance (40 mts).
Using above-home for out-of-range-high won't solve the problem since it will keep reporting out-of-range-low erroneously deploying landing gear when it should not.

Another solution could be only setting height_cm = 0 when reporting out-of-range-low AND height_cm (above-home) is less than RangeFinder min_distance_cm