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AP_NavEKF2: Clarify intended use of setTerrainHgtStable accessor

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This commit is contained in:
Paul Riseborough 2020-05-25 20:37:44 +10:00 committed by Randy Mackay
parent fca8d33c50
commit 502b96f49c
4 changed files with 8 additions and 4 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -1315,7 +1315,8 @@ void NavEKF2::setTouchdownExpected(bool val)
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK2_RNG_AID_HGT and EK2_RNG_USE_SPD parameters.
void NavEKF2::setTerrainHgtStable(bool val)
{
if (core) {

3
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -245,7 +245,8 @@ public:
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK2_RNG_AID_HGT and EK2_RNG_USE_SPD parameters.
void setTerrainHgtStable(bool val);
/*

3
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@ -469,7 +469,8 @@ void NavEKF2_core::setTouchdownExpected(bool val)
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK2_RNG_AID_HGT and EK2_RNG_USE_SPD parameters.
void NavEKF2_core::setTerrainHgtStable(bool val)
{
terrainHgtStableSet_ms = imuSampleTime_ms;

3
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -236,7 +236,8 @@ public:
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK2_RNG_AID_HGT and EK2_RNG_USE_SPD parameters.
void setTerrainHgtStable(bool val);
/*