map handling: Ignore obstacles further than hokuyo maximum range.

diff --git a/src/robofsm/map_handling.c b/src/robofsm/map_handling.c
index 4b247e06975273cee4d94872d4ea46cb70435859..f282e1071370a60832f762de9262a19630fb27b3 100644 (file)
--- a/src/robofsm/map_handling.c
+++ b/src/robofsm/map_handling.c
@@ -105,6 +105,7 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
                        continue;
                
                if(data[i] > 19) {
+               if(data[i] > 19 && data[i] < 4000) {
                        obst_coord(&e, &beam, data[i]/1000.0, &x, &y);
                        obstacle_detected_at(x, y, true);
                        obst_coord(&e, &beam, (data[i]/1000.0)+0.3, &x, &y);