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EKF: relax range finder data continuity check

This commit is contained in:
Paul Riseborough 2018-05-18 12:50:31 +10:00 committed by Lorenz Meier
parent 93c456f2b8
commit fc9f532c34
1 changed files with 3 additions and 3 deletions
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6
EKF/terrain_estimator.cpp
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@ -201,7 +201,7 @@ void Ekf::get_hagl_innov_var(float *hagl_innov_var)
// check that the range finder data is continuous
void Ekf::checkRangeDataContinuity()
{
// update range data continuous flag (1Hz ie 1000 ms)
// update range data continuous flag (1Hz ie 2000 ms)
/* Timing in micro seconds */
/* Apply a 2.0 sec low pass filter to the time delta from the last range finder updates */
@ -209,9 +209,9 @@ void Ekf::checkRangeDataContinuity()
_dt_last_range_update_filt_us = _dt_last_range_update_filt_us * (1.0f - alpha) + alpha *
(_time_last_imu - _time_last_range);
_dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 2e6f);
_dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 4e6f);
if (_dt_last_range_update_filt_us < 1e6f) {
if (_dt_last_range_update_filt_us < 2e6f) {
_range_data_continuous = true;
} else {