Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: don't limit baro change when we are in fixed wing mode

Browse Source
This commit is contained in:
Andrew Tridgell 2021-05-29 12:01:16 +10:00 committed by Randy Mackay
parent 062a15ce11
commit ea6724aca5
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
View File

@ -672,7 +672,7 @@ void NavEKF2_core::readBaroData()
// If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
// This prevents negative baro disturbances due to copter downwash corrupting the EKF altitude during initial ascent // This prevents negative baro disturbances due to copter downwash corrupting the EKF altitude during initial ascent
if (dal.get_takeoff_expected()) { if (dal.get_takeoff_expected() && !assume_zero_sideslip()) {
baroDataNew.hgt = MAX(baroDataNew.hgt, meaHgtAtTakeOff); baroDataNew.hgt = MAX(baroDataNew.hgt, meaHgtAtTakeOff);
} }

2
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
View File

@ -1096,7 +1096,7 @@ void NavEKF2_core::selectHeightForFusion()
} }
// If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
// This prevents negative baro disturbances due to copter downwash corrupting the EKF altitude during initial ascent // This prevents negative baro disturbances due to copter downwash corrupting the EKF altitude during initial ascent
if (motorsArmed && dal.get_takeoff_expected()) { if (motorsArmed && dal.get_takeoff_expected() && !assume_zero_sideslip()) {
hgtMea = MAX(hgtMea, meaHgtAtTakeOff); hgtMea = MAX(hgtMea, meaHgtAtTakeOff);
} }
} else { } else {