forked from Archive/PX4-Autopilot
ekf: run rng consistency check only when not horizontally moving
The check assumes a non-moving terrain height
This commit is contained in:
parent
d903613c9c
commit
079a5e92ba
|
@ -140,8 +140,12 @@ void Ekf::controlFusionModes()
|
|||
const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
|
||||
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
|
||||
_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
|
||||
|
||||
// Run the kinematic consistency check when not moving horizontally
|
||||
if ((sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P(4, 4) + P(5, 5), 0.1f))) {
|
||||
_rng_consistency_check.update(_range_sensor.getDistBottom(), getRngHeightVariance(), _state.vel(2), P(6, 6), _time_last_imu);
|
||||
}
|
||||
}
|
||||
|
||||
_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();
|
||||
}
|
||||
|
|
Loading…
Reference in New Issue