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AP_NavEKF3: Prevent on ground range to ground being used in flight

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Paul Riseborough 2022-11-21 20:28:20 +11:00 committed by Randy Mackay
parent b0011ce014
commit 2eb627775a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -90,7 +90,7 @@ void NavEKF3_core::readRangeFinder(void)
// indicate we have updated the measurement // indicate we have updated the measurement
rngValidMeaTime_ms = imuSampleTime_ms; rngValidMeaTime_ms = imuSampleTime_ms;
} else if (!takeOffDetected && ((imuSampleTime_ms - rngValidMeaTime_ms) > 200)) { } else if (onGround && ((imuSampleTime_ms - rngValidMeaTime_ms) > 200)) {
// before takeoff we assume on-ground range value if there is no data // before takeoff we assume on-ground range value if there is no data
rangeDataNew.time_ms = imuSampleTime_ms; rangeDataNew.time_ms = imuSampleTime_ms;
rangeDataNew.rng = rngOnGnd; rangeDataNew.rng = rngOnGnd;