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AP_NavEKF3: Clarify intended use of setTerrainHgtStable accessor

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Paul Riseborough 2020-05-25 20:37:54 +10:00 committed by Randy Mackay
parent 502b96f49c
commit ed5b695c94
4 changed files with 8 additions and 4 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1463,7 +1463,8 @@ void NavEKF3::setTouchdownExpected(bool val)
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK3_RNG_AID_HGT and EK3_RNG_USE_SPD parameters.
void NavEKF3::setTerrainHgtStable(bool val)
{
if (core) {

3
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -316,7 +316,8 @@ public:
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK3_RNG_AID_HGT and EK3_RNG_USE_SPD parameters.
void setTerrainHgtStable(bool val);
/*

3
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
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@ -466,7 +466,8 @@ void NavEKF3_core::setTouchdownExpected(bool val)
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK3_RNG_AID_HGT and EK3_RNG_USE_SPD parameters.
void NavEKF3_core::setTerrainHgtStable(bool val)
{
terrainHgtStableSet_ms = imuSampleTime_ms;

3
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -325,7 +325,8 @@ public:
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK3_RNG_AID_HGT and EK3_RNG_USE_SPD parameters.
void setTerrainHgtStable(bool val);
/*