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ekf2: range fusion: while on the ground the rangefinder quality checks are bypassed and a synthetic measurement is fused using the minimum rangefinder distance. The intention of this logic is to ensure the rangefinder can be fused immediately during takeoff even if it's reporting 0 quality while on the ground. This was not working since the rangefinder _time_bad_quality_us was being updated while on the ground. This results in range fusion being disabled as soon as the in_air flag is set, since the time since the last bad quality value has not exceeded the EKF2_RNG_QLTY_T. This commit moves the logic into the SensorRangeFinder::isQualityOk function where the _time_bad_quality_us is only set once airborne.

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This commit is contained in:
Jacob Dahl
2025-09-15 12:29:14 -08:00
parent db8a1f11a7
commit 569849665f
5 changed files with 18 additions and 23 deletions
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boards/ark/pi6x/init/rc.board_defaults
-1
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@@ -36,7 +36,6 @@ param set-default EKF2_MULTI_IMU 0
param set-default EKF2_OF_CTRL 1
param set-default EKF2_OF_N_MIN 0.05
param set-default EKF2_RNG_A_HMAX 25
param set-default EKF2_RNG_QLTY_T 0.1
param set-default SENS_FLOW_RATE 150
param set-default SENS_IMU_MODE 1