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ekf2: populate local_position dist_bottom_sensor_bitfield

This commit is contained in:
Daniel Agar 2021-02-18 08:25:19 -05:00
parent 06e2bca3a6
commit 5e188b3cd7
1 changed files with 3 additions and 5 deletions
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8
src/modules/ekf2/EKF2.cpp
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@ -707,13 +707,11 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
lpos.heading = Eulerf(_ekf.getQuaternion()).psi();
lpos.delta_heading = Eulerf(delta_q_reset).psi();
lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid();
float terrain_vpos = _ekf.getTerrainVertPos();
// Distance to bottom surface (ground) in meters
// constrain the distance to ground to _rng_gnd_clearance
lpos.dist_bottom = math::max(terrain_vpos - lpos.z, _param_ekf2_min_rng.get());
lpos.dist_bottom = math::max(_ekf.getTerrainVertPos() - lpos.z, _param_ekf2_min_rng.get());
lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid();
lpos.dist_bottom_sensor_bitfield = _ekf.getTerrainEstimateSensorBitfield();
if (!_had_valid_terrain) {
_had_valid_terrain = lpos.dist_bottom_valid;