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ekf2: only check ground effect if it's configured

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This commit is contained in:
Matthias Grob
2019-04-30 12:34:28 +02:00
committed by Roman Bapst
parent f034d2da19
commit 269d077fae
1 changed files with 3 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+3 -2
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@@ -1419,7 +1419,8 @@ void Ekf2::run()
_had_valid_terrain = lpos.dist_bottom_valid;
}
if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// only consider ground effect if compensation is configured and the vehicle is armed (props spinning)
if (_param_ekf2_gnd_eff_dz.get() > 0.0f && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// set ground effect flag if vehicle is closer than a specified distance to the ground
if (lpos.dist_bottom_valid) {
_ekf.set_gnd_effect_flag(lpos.dist_bottom < _param_ekf2_gnd_max_hgt.get());
@@ -1428,7 +1429,7 @@ void Ekf2::run()
// _had_valid_terrain is used to make sure that we don't fall back to using this option
// if we temporarily lose terrain data due to the distance sensor getting out of range
} else if (vehicle_land_detected_updated && _param_ekf2_gnd_eff_dz.get() > 0.0f && !_had_valid_terrain) {
} else if (vehicle_land_detected_updated && !_had_valid_terrain) {
// update ground effect flag based on land detector state
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
}