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make terrain estimate invalid after range sensor timeout

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tumbili
2015-11-17 22:28:08 +01:00
committed by Roman
parent 1ae7221593
commit 11c6ee2b5a
3 changed files with 10 additions and 3 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+1 -1
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@@ -702,7 +702,7 @@ void AttitudePositionEstimatorEKF::task_main()
// Run separate terrain estimator
_terrain_estimator->predict(_ekf->dtIMU, &_att, &_sensor_combined, &_distance);
_terrain_estimator->measurement_update(&_gps, &_distance, &_att);
_terrain_estimator->measurement_update(hrt_absolute_time(), &_gps, &_distance, &_att);
// Publish attitude estimations
publishAttitude();