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EKF2: move handling of invalid range into ECL (#12988)

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* ekf2: Move handling of invalid range finder data inside ecl library

The ecl library EKF is able to use vehicle motion and in-air status to better determine when the default on-ground range finder reading can be used.
The description for the EKF2_MIN_RNG parameter has been updated to make its use clearer.
This commit is contained in:
Nico van Duijn
2019-09-19 11:29:34 +02:00
committed by Julian Kent
parent fa13f63db6
commit 549a962553
2 changed files with 5 additions and 19 deletions
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src/modules/ekf2/ekf2_params.c
+3 -1
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@@ -689,7 +689,9 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_SFE, 0.05f);
PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
/**
* Minimum valid range for the range finder
* Expected range finder reading when on ground.
*
* If the vehicle is on ground, is not moving as determined by the motion test controlled by EKF2_MOVE_TEST and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is avilable at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.
*
* @group EKF2
* @min 0.01