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ekf: improve range primary height source

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allow range fusion to start with fake measurements if the sensor is
providing bad measurements because too close to the ground
This commit is contained in:
bresch
2021-12-10 15:18:10 +01:00
committed by Mathieu Bresciani
parent 9147d5ea5c
commit 66290de745
2 changed files with 12 additions and 12 deletions
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src/modules/ekf2/EKF/control.cpp
+11 -12
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@@ -825,6 +825,17 @@ void Ekf::controlHeightFusion()
break;
case VDIST_SENSOR_RANGE:
// If we are supposed to be using range finder data as the primary height sensor, have bad range measurements
// and are on the ground, then synthesise a measurement at the expected on ground value
if (!_control_status.flags.in_air
&& !_range_sensor.isDataHealthy()
&& _range_sensor.isRegularlySendingData()
&& _range_sensor.isDataReady()) {
_range_sensor.setRange(_params.rng_gnd_clearance);
_range_sensor.setValidity(true); // bypass the checks
}
if (!_control_status.flags.rng_hgt) {
if (_range_sensor.isDataHealthy()) {
startRngHgtFusion();
@@ -887,18 +898,6 @@ void Ekf::controlHeightFusion()
if (_range_sensor.isDataHealthy()) {
fuseRngHgt();
} else if (!_control_status.flags.in_air
&& _range_sensor.isRegularlySendingData()
&& isTimedOut(_time_last_hgt_fuse, 2 * RNG_MAX_INTERVAL)) {
// If we are supposed to be using range finder data as the primary height sensor, have missed or rejected measurements
// and are on the ground, then synthesise a measurement at the expected on ground value
_range_sensor.setRange(_params.rng_gnd_clearance);
_range_sensor.setDataReadiness(true);
_range_sensor.setValidity(true); // bypass the checks
fuseRngHgt();
}
} else if (_control_status.flags.ev_hgt) {