From 9d077649693e1338d501bc994b31ea36bdd87d7c Mon Sep 17 00:00:00 2001
From: Himanshu <112391276+Himanshu069@users.noreply.github.com>
Date: Tue, 5 May 2026 18:59:52 +0545
Subject: [PATCH] fix(drivers/distance_sensor/vl53l0x): filter out invalid
 8.19m distance readings (#27214)

---
 src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp b/src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp
index 6a6c5a3580..cb6b9a6e72 100644
--- a/src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp
+++ b/src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp
@@ -115,6 +115,10 @@ int VL53L0X::collect()
 	uint16_t distance_mm = (val[0] << 8) | val[1];
 	float distance_m = distance_mm / 1000.f;
 
+	if (distance_m > 2.0f) {
+		return PX4_OK;
+	}
+
 	_px4_rangefinder.update(timestamp_sample, distance_m);
 
 	return PX4_OK;