Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
View File

@ -90,7 +90,7 @@ void NavEKF3_core::readRangeFinder(void)
// indicate we have updated the measurement
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
rangeDataNew.time_ms = imuSampleTime_ms;
rangeDataNew.rng = rngOnGnd;