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EKF: Make range finder data continuous check more robust

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Use a filtered arrival time delta to determine if range data is continuous
This commit is contained in:
devbharat
2017-02-22 14:12:05 +01:00
committed by Roman
parent d94068b88a
commit 8004e9fe7e
3 changed files with 32 additions and 1 deletions
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EKF/ekf.cpp
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@@ -183,6 +183,7 @@ bool Ekf::init(uint64_t timestamp)
_terrain_initialised = false;
_sin_tilt_rng = sinf(_params.rng_sens_pitch);
_cos_tilt_rng = cosf(_params.rng_sens_pitch);
_range_data_continuous = false;
_control_status.value = 0;
_control_status_prev.value = 0;
@@ -214,6 +215,7 @@ bool Ekf::update()
predictCovariance();
// perform state and variance prediction for the terrain estimator
checkRangeDataContinuity();
if (!_terrain_initialised) {
_terrain_initialised = initHagl();