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AP_NavEKF2: fix vertical flyaways when rangefinder stops providing data

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Dr.-Ing. Amilcar do Carmo Lucas 2020-05-20 12:23:05 +02:00 committed by Randy Mackay
parent 3f6b43e3aa
commit 2b02c84ae4
1 changed files with 2 additions and 0 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -52,6 +52,8 @@ void NavEKF2_core::readRangeFinder(void)
} }
storedRngMeasTime_ms[sensorIndex][rngMeasIndex[sensorIndex]] = imuSampleTime_ms - 25; storedRngMeasTime_ms[sensorIndex][rngMeasIndex[sensorIndex]] = imuSampleTime_ms - 25;
storedRngMeas[sensorIndex][rngMeasIndex[sensorIndex]] = sensor->distance_cm() * 0.01f; storedRngMeas[sensorIndex][rngMeasIndex[sensorIndex]] = sensor->distance_cm() * 0.01f;
} else {
continue;
} }
// check for three fresh samples // check for three fresh samples