fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 21:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks

Browse Source
This commit is contained in:
Paul Riseborough
2017-10-12 08:26:04 +11:00
parent 1119a9b0ac
commit 4db23b7b2e
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/terrain_estimator.cpp
+1 -1
View File
@@ -159,7 +159,7 @@ void Ekf::fuseHagl()
bool Ekf::get_terrain_valid()
{
if (_terrain_initialised && _range_data_continuous && !_rng_stuck &&
!_innov_check_fail_status.flags.reject_hagl) {
(_time_last_imu - _time_last_hagl_fuse < 5E6)) {
return true;
} else {