From ac21becb6a71cfb1f0fa65cea50d322d1208bacf Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 24 Jun 2020 18:08:40 +0900 Subject: [PATCH] Copter: simplified update of ekf terrain height stable setting --- ArduCopter/baro_ground_effect.cpp | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/ArduCopter/baro_ground_effect.cpp b/ArduCopter/baro_ground_effect.cpp index 14b0ddfbd6..0c023b927e 100644 --- a/ArduCopter/baro_ground_effect.cpp +++ b/ArduCopter/baro_ground_effect.cpp @@ -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()); }