forked from Archive/PX4-Autopilot
ekf2: populate local_position dist_bottom_sensor_bitfield
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@ -707,13 +707,11 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp)
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lpos.heading = Eulerf(_ekf.getQuaternion()).psi();
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lpos.delta_heading = Eulerf(delta_q_reset).psi();
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lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid();
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float terrain_vpos = _ekf.getTerrainVertPos();
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// Distance to bottom surface (ground) in meters
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// constrain the distance to ground to _rng_gnd_clearance
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lpos.dist_bottom = math::max(terrain_vpos - lpos.z, _param_ekf2_min_rng.get());
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lpos.dist_bottom = math::max(_ekf.getTerrainVertPos() - lpos.z, _param_ekf2_min_rng.get());
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lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid();
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lpos.dist_bottom_sensor_bitfield = _ekf.getTerrainEstimateSensorBitfield();
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if (!_had_valid_terrain) {
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_had_valid_terrain = lpos.dist_bottom_valid;
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