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ekf2: Move range min/max checks to inside the ecl library

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This commit is contained in:
Paul Riseborough 2018-07-13 07:31:07 +10:00 committed by Paul Riseborough
parent da2fbf60b5
commit 4e3f7bdcc6
2 changed files with 4 additions and 5 deletions
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2
src/lib/ecl

@ -1 +1 @@
Subproject commit 41953ab5823fe0e6d062e3641c37f5c05a3e5cc2
Subproject commit 4d59c834ebb181b78294ec3981c3d32b470e6f15

7
src/modules/ekf2/ekf2_main.cpp
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@ -939,10 +939,9 @@ void Ekf2::run()
distance_sensor_s range_finder;
if (orb_copy(ORB_ID(distance_sensor), _range_finder_subs[_range_finder_sub_index], &range_finder) == PX4_OK) {
// check if distance sensor is within working boundaries
if (range_finder.min_distance >= range_finder.current_distance ||
range_finder.max_distance <= range_finder.current_distance ||
range_finder.signal_quality == 0) {
// check distance sensor data quality
// TODO - move this check inside the ecl library
if (range_finder.signal_quality == 0) {
// use rng_gnd_clearance if on ground
if (_ekf.get_in_air_status()) {
range_finder_updated = false;