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range_finder_checks: set range height to valid if signal quality is non-zero

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2019-10-14 10:08:59 +02:00
committed by Paul Riseborough
parent 6299d8199c
commit 6bc6f26043
1 changed files with 2 additions and 0 deletions
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EKF/range_finder_checks.cpp
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@@ -90,6 +90,8 @@ void Ekf::updateRangeDataValidity()
} else if (_time_bad_rng_signal_quality > 0 && _imu_sample_delayed.time_us - _time_bad_rng_signal_quality > RNG_BAD_SIG_HYST) {
_time_bad_rng_signal_quality = 0;
_rng_hgt_valid = true;
} else if (_time_bad_rng_signal_quality == 0) {
_rng_hgt_valid = true;
}
// Check if excessively tilted