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Allow rangefinder fusion in vision height mode (Fix for #994) (#999) 

Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Eike 2021-04-30 20:17:39 +02:00 committed by GitHub
parent 4ac57d3bde
commit a7b8afe420
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 11 deletions
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19
EKF/control.cpp
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@ -788,8 +788,7 @@ void Ekf::controlHeightSensorTimeouts()
// check if height has been inertial deadreckoning for too long
// in vision hgt mode check for vision data
const bool hgt_fusion_timeout = isTimedOut(_time_last_hgt_fuse, (uint64_t)5e6) ||
(_control_status.flags.ev_hgt && !isRecent(_time_last_ext_vision, 5 * EV_MAX_INTERVAL));
const bool hgt_fusion_timeout = isTimedOut(_time_last_hgt_fuse, (uint64_t)5e6);
if (hgt_fusion_timeout || continuous_bad_accel_hgt) {
@ -1079,15 +1078,13 @@ void Ekf::controlHeightFusion()
}
}
if (_control_status.flags.baro_hgt && _baro_data_ready && !_baro_hgt_faulty) {
// switch to baro if there was a reset to baro
fuse_height = true;
}
// determine if we should use the vertical position observation
if (_control_status.flags.ev_hgt) {
fuse_height = true;
}
if (_control_status.flags.ev_hgt && _ev_data_ready) {
fuse_height = true;
} else if (_control_status.flags.rng_hgt && _range_sensor.isDataHealthy()) {
fuse_height = true;
} else if (_control_status.flags.baro_hgt && _baro_data_ready && !_baro_hgt_faulty) {
fuse_height = true;
}
break;
}