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EKF: Use parameter for stuck range test threshold

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The default has been reduced to make it suitable for low altitude optical flow navigation.
This commit is contained in:
Paul Riseborough
2018-07-26 07:53:39 +02:00
committed by Lorenz Meier
parent 628079719f
commit 748446b92f
2 changed files with 2 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -1184,7 +1184,7 @@ void Ekf::checkRangeDataValidity()
_control_status.flags.in_air) {
// require a variance of rangefinder values to check for "stuck" measurements
if (_rng_stuck_max_val - _rng_stuck_min_val > 1.0f) {
if (_rng_stuck_max_val - _rng_stuck_min_val > _params.range_stuck_threshold) {
_time_last_rng_ready = _range_sample_delayed.time_us;
_rng_stuck_min_val = 0.0f;
_rng_stuck_max_val = 0.0f;