mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF3: apply height innovation floor only when barometer is in use
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@ -608,7 +608,7 @@ void NavEKF3_core::FuseVelPosNED()
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const float gndMaxBaroErr = 4.0f;
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const float gndBaroInnovFloor = -0.5f;
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if(getTouchdownExpected()) {
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if(getTouchdownExpected() && activeHgtSource == HGT_SOURCE_BARO) {
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// when a touchdown is expected, floor the barometer innovation at gndBaroInnovFloor
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// constrain the correction between 0 and gndBaroInnovFloor+gndMaxBaroErr
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// this function looks like this:
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