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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
2018-07-16 21:59:04 +10:00
committed by Paul Riseborough
parent da2fbf60b5
commit 4e3f7bdcc6
2 changed files with 4 additions and 5 deletions
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src/lib/ecl
+1 -1
Submodule src/lib/ecl updated: 41953ab582...4d59c834eb
src/modules/ekf2/ekf2_main.cpp
+3 -4
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@@ -939,10 +939,9 @@ void Ekf2::run()
distance_sensor_s range_finder; distance_sensor_s range_finder;
if (orb_copy(ORB_ID(distance_sensor), _range_finder_subs[_range_finder_sub_index], &range_finder) == PX4_OK) { 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 // check distance sensor data quality
if (range_finder.min_distance >= range_finder.current_distance || // TODO - move this check inside the ecl library
range_finder.max_distance <= range_finder.current_distance || if (range_finder.signal_quality == 0) {
range_finder.signal_quality == 0) {
// use rng_gnd_clearance if on ground // use rng_gnd_clearance if on ground
if (_ekf.get_in_air_status()) { if (_ekf.get_in_air_status()) {
range_finder_updated = false; range_finder_updated = false;