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EKF: Improve ground effect compensation

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Start deadline at zero so that initial rotor wash effect is rejected.
This commit is contained in:
Paul Riseborough
2018-05-19 07:59:08 +10:00
committed by Lorenz Meier
parent 39697f1196
commit 8a713398cb
1 changed files with 1 additions and 1 deletions
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EKF/vel_pos_fusion.cpp
+1 -1
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@@ -107,7 +107,7 @@ void Ekf::fuseVelPosHeight()
// Compensate for positive static pressure transients (negative vertical position innovations) // Compensate for positive static pressure transients (negative vertical position innovations)
// casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations. // casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
float deadzone_start = 0.25f * _params.baro_noise; float deadzone_start = 0.0f;
float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
if (_control_status.flags.gnd_effect) { if (_control_status.flags.gnd_effect) {