forked from Archive/PX4-Autopilot
ekf: requires kinematically consistent range finder data to continue terrain aiding
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@ -95,9 +95,9 @@ void Ekf::controlHaglRngFusion()
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}
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if (_range_sensor.isDataHealthy()) {
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const bool continuing_conditions_passing = _control_status.flags.in_air;
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const bool continuing_conditions_passing = _control_status.flags.in_air && _rng_consistency_check.isKinematicallyConsistent();
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//const bool continuing_conditions_passing = _control_status.flags.in_air && !_control_status.flags.rng_hgt; // TODO: should not be fused when using range height
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const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData();
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const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData() && (_rng_consistency_check.getTestRatio() < 1.f);
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_time_last_healthy_rng_data = _time_last_imu;
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