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range_finder_checks: parametrised signal quality hysteresis duration

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-10-24 07:55:37 +11:00
committed by Paul Riseborough
parent 16d1e15b51
commit 0e3a0b8659
2 changed files with 3 additions and 2 deletions
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EKF/range_finder_checks.cpp
+2 -2
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@@ -80,7 +80,7 @@ void Ekf::updateRangeDataValidity()
if (_range_sample_delayed.quality == 0) {
_time_bad_rng_signal_quality = _imu_sample_delayed.time_us;
_rng_hgt_valid = false;
} else if (_imu_sample_delayed.time_us - _time_bad_rng_signal_quality > RNG_BAD_SIG_HYST) {
} else if (_imu_sample_delayed.time_us - _time_bad_rng_signal_quality > (unsigned)_params.range_signal_hysteresis_ms) {
_rng_hgt_valid = true;
}
@@ -139,4 +139,4 @@ void Ekf::updateRangeDataStuck()
} else {
_time_last_rng_ready = _range_sample_delayed.time_us;
}
}
}