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Copter: simplified update of ekf terrain height stable setting

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This commit is contained in:
Randy Mackay 2020-06-24 18:08:40 +09:00
parent ec5f84c926
commit ac21becb6a
1 changed files with 2 additions and 7 deletions
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9
ArduCopter/baro_ground_effect.cpp
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@ -1,9 +1,5 @@
#include "Copter.h"
#ifndef EKF_TERRAIN_HGT_STABLE_SPEED_MAX
# define EKF_TERRAIN_HGT_STABLE_SPEED_MAX 0.5f // terrain height is only considered stable under 0.75m/s. Note this is not related to terrain following
#endif
void Copter::update_ground_effect_detector(void)
{
if(!g2.gndeffect_comp_enabled || !motors->armed()) {
@ -82,7 +78,6 @@ void Copter::update_ekf_terrain_height_stable()
ahrs.set_terrain_hgt_stable(false);
}
// consider terrain height stable if vehicle is taking off or landing and moving less than 0.5 m/s
const bool is_stable = (flightmode->is_taking_off() || flightmode->is_landing()) && (ahrs.groundspeed() <= EKF_TERRAIN_HGT_STABLE_SPEED_MAX);
ahrs.set_terrain_hgt_stable(is_stable);
// consider terrain height stable if vehicle is taking off or landing
ahrs.set_terrain_hgt_stable(flightmode->is_taking_off() || flightmode->is_landing());
}