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Copter: Use filtered and corrected range finder in surface tracking

This commit is contained in:
Leonard Hall 2023-01-08 19:27:06 +10:30 committed by Randy Mackay
parent 65915441b6
commit 4d557f95ea
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/surface_tracking.cpp
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@ -17,7 +17,7 @@ void Copter::SurfaceTracking::update_surface_offset()
// e.g. if vehicle is 10m above the EKF origin and rangefinder reports alt of 3m. curr_surface_alt_above_origin_cm is 7m (or 700cm) // e.g. if vehicle is 10m above the EKF origin and rangefinder reports alt of 3m. curr_surface_alt_above_origin_cm is 7m (or 700cm)
RangeFinderState &rf_state = (surface == Surface::GROUND) ? copter.rangefinder_state : copter.rangefinder_up_state; RangeFinderState &rf_state = (surface == Surface::GROUND) ? copter.rangefinder_state : copter.rangefinder_up_state;
const float dir = (surface == Surface::GROUND) ? 1.0f : -1.0f; const float dir = (surface == Surface::GROUND) ? 1.0f : -1.0f;
const float curr_surface_alt_above_origin_cm = copter.inertial_nav.get_position_z_up_cm() - dir * rf_state.alt_cm; const float curr_surface_alt_above_origin_cm = rf_state.inertial_alt_cm - dir * rf_state.alt_cm_filt.get();
// update position controller target offset to the surface's alt above the EKF origin // update position controller target offset to the surface's alt above the EKF origin
copter.pos_control->set_pos_offset_target_z_cm(curr_surface_alt_above_origin_cm); copter.pos_control->set_pos_offset_target_z_cm(curr_surface_alt_above_origin_cm);