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enable ground effect zone when land detector is updated

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Elia Tarasov
2019-03-21 10:07:12 +01:00
committed by Roman Bapst
parent 0c24aa6149
commit 04a486f13d
3 changed files with 14 additions and 9 deletions
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src/modules/ekf2/ekf2_main.cpp
+5
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@@ -1398,6 +1398,11 @@ void Ekf2::run()
_ekf.set_gnd_effect_flag(true);
}
// update ground effect flag based on land detector state
else if (vehicle_land_detected_updated && _gnd_effect_deadzone.get() > 0.0f) {
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
}
lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate
_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);