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update range sensor angle parameters in case they have changed

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Signed-off-by: Roman <bapstroman@gmail.com>
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Roman
2017-02-22 14:12:05 +01:00
parent aa53f45f15
commit 7e2597ec28
1 changed files with 5 additions and 0 deletions
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EKF/terrain_estimator.cpp
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@@ -96,6 +96,11 @@ void Ekf::runTerrainEstimator()
if (_range_data_ready) {
fuseHagl();
// update range sensor angle parameters in case they have changed
// we do this here to avoid doing those calculations at a high rate
_sin_tilt_rng = sinf(_params.rng_sens_pitch);
_cos_tilt_rng = cosf(_params.rng_sens_pitch);
}
}
}