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Copter: fix terrain offset reset

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This commit is contained in:
Randy Mackay 2023-03-06 08:53:58 +09:00 committed by Peter Barker
parent 6930e8872d
commit e6ad42b851
1 changed files with 15 additions and 2 deletions
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17
ArduCopter/sensors.cpp
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@ -62,6 +62,7 @@ void Copter::read_rangefinder(void)
// glitches clear after RANGEFINDER_GLITCH_NUM_SAMPLES samples in a row.
// glitch_cleared_ms is set so surface tracking (or other consumers) can trigger a target reset
const int32_t glitch_cm = rf_state.alt_cm - rf_state.alt_cm_glitch_protected;
bool reset_terrain_offset = false;
if (glitch_cm >= RANGEFINDER_GLITCH_ALT_CM) {
rf_state.glitch_count = MAX(rf_state.glitch_count+1, 1);
} else if (glitch_cm <= -RANGEFINDER_GLITCH_ALT_CM) {
@ -74,8 +75,8 @@ void Copter::read_rangefinder(void)
// clear glitch and record time so consumers (i.e. surface tracking) can reset their target altitudes
rf_state.glitch_count = 0;
rf_state.alt_cm_glitch_protected = rf_state.alt_cm;
rf_state.terrain_offset_cm = rf_state.inertial_alt_cm - rf_state.alt_cm;
rf_state.glitch_cleared_ms = AP_HAL::millis();
reset_terrain_offset = true;
}
// filter rangefinder altitude
@ -85,13 +86,25 @@ void Copter::read_rangefinder(void)
if (timed_out) {
// reset filter if we haven't used it within the last second
rf_state.alt_cm_filt.reset(rf_state.alt_cm);
rf_state.terrain_offset_cm = rf_state.inertial_alt_cm - rf_state.alt_cm;
reset_terrain_offset = true;
} else {
rf_state.alt_cm_filt.apply(rf_state.alt_cm, 0.05f);
}
rf_state.last_healthy_ms = now;
}
// handle reset of terrain offset
if (reset_terrain_offset) {
if (rf_orient == ROTATION_PITCH_90) {
// upward facing
rf_state.terrain_offset_cm = rf_state.inertial_alt_cm + rf_state.alt_cm;
} else {
// assume downward facing
rf_state.terrain_offset_cm = rf_state.inertial_alt_cm - rf_state.alt_cm;
}
}
// send downward facing lidar altitude and health to the libraries that require it
#if HAL_PROXIMITY_ENABLED
if (rf_orient == ROTATION_PITCH_270) {