Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: Correct comments for height measurement

Browse Source
This commit is contained in:
Paul Riseborough 2015-10-14 10:07:51 +11:00 committed by Andrew Tridgell
parent 0dc570b5a5
commit 67a669fcdc
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
View File

@ -599,6 +599,7 @@ void NavEKF2_core::readHgtData()
// filter offset to reduce effect of baro noise and other transient errors on estimate // filter offset to reduce effect of baro noise and other transient errors on estimate
baroHgtOffset = 0.1f * (_baro.get_altitude() + stateStruct.position.z) + 0.9f * baroHgtOffset; baroHgtOffset = 0.1f * (_baro.get_altitude() + stateStruct.position.z) + 0.9f * baroHgtOffset;
} else if (isAiding && takeOffDetected) { } else if (isAiding && takeOffDetected) {
// we have lost range finder measurements and are in optical flow flight
// use baro measurement and correct for baro offset - failsafe use only as baro will drift // use baro measurement and correct for baro offset - failsafe use only as baro will drift
baroDataNew.hgt = max(_baro.get_altitude() - baroHgtOffset, rngOnGnd); baroDataNew.hgt = max(_baro.get_altitude() - baroHgtOffset, rngOnGnd);
} else { } else {
@ -609,7 +610,7 @@ void NavEKF2_core::readHgtData()
baroHgtOffset = 0.1f * (_baro.get_altitude() + stateStruct.position.z) + 0.9f * baroHgtOffset; baroHgtOffset = 0.1f * (_baro.get_altitude() + stateStruct.position.z) + 0.9f * baroHgtOffset;
} }
} else { } else {
// use baro measurement and correct for baro offset // Normal operation is to use baro measurement
baroDataNew.hgt = _baro.get_altitude(); baroDataNew.hgt = _baro.get_altitude();
} }