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Jacob Dahl
1c0c736312
has_data() returns true for OutOfRangeHigh and OutOfRangeLow in addition to Good. A DroneCAN publisher following the DSDL sends exactly max_distance on TOO_FAR and min_distance on TOO_CLOSE. Those boundary values pass the inclusive distance check and produce a phantom obstacle at the sensor's range limit, which AC_Avoid acts on. The same path on upward-facing sensors produces a phantom ceiling. Gate both the horizontal and upward branches on Status::Good so only real measurements are pushed into the proximity boundary and OA database. OutOfRange readings now fall through to reset_face / invalidate _distance_upward, matching the existing out-of-band behavior.