fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 18:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Parameterize maximum angle for rng fusion

Browse Source
This commit is contained in:
CarlOlsson
2017-09-26 20:53:48 +02:00
parent 160e4d69c1
commit 0a7c3ecbc6
4 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/vel_pos_fusion.cpp
+1 -1
View File
@@ -179,7 +179,7 @@ void Ekf::fuseVelPosHeight()
// innovation gate size
gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);
} else if (_control_status.flags.rng_hgt && (_R_rng_to_earth_2_2 > 0.7071f)) {
} else if (_control_status.flags.rng_hgt && (_R_rng_to_earth_2_2 > _params.range_cos_max_tilt)) {
fuse_map[5] = true;
// use range finder with tilt correction
_vel_pos_innov[5] = _state.pos(2) - (-math::max(_range_sample_delayed.rng * _R_rng_to_earth_2_2,