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ekf2 : use INFINITY when altitude limiting is not needed

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This commit is contained in:
Mohammed Kabir
2018-06-09 13:38:04 +02:00
committed by Lorenz Meier
parent 1a2f9dd37a
commit 8f5ceac936
1 changed files with 10 additions and 6 deletions
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src/modules/ekf2/ekf2_main.cpp
+10 -6
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@@ -902,7 +902,8 @@ void Ekf2::run()
}
// Save sensor limits reported by the optical flow sensor
_ekf.set_optical_flow_limits(optical_flow.max_flow_rate, optical_flow.min_ground_distance, optical_flow.max_ground_distance);
_ekf.set_optical_flow_limits(optical_flow.max_flow_rate, optical_flow.min_ground_distance,
optical_flow.max_ground_distance);
ekf2_timestamps.optical_flow_timestamp_rel = (int16_t)((int64_t)optical_flow.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
@@ -1133,18 +1134,21 @@ void Ekf2::run()
// get control limit information
_ekf.get_ekf_ctrl_limits(&lpos.vxy_max, &lpos.vz_max, &lpos.hagl_min, &lpos.hagl_max);
// convert NaN to zero
// convert NaN to INFINITY
if (!PX4_ISFINITE(lpos.vxy_max)) {
lpos.vxy_max = 0.0f;
lpos.vxy_max = INFINITY;
}
if (!PX4_ISFINITE(lpos.vz_max)) {
lpos.vz_max = 0.0f;
lpos.vz_max = INFINITY;
}
if (!PX4_ISFINITE(lpos.hagl_min)) {
lpos.hagl_min = 0.0f;
lpos.hagl_min = INFINITY;
}
if (!PX4_ISFINITE(lpos.hagl_max)) {
lpos.hagl_max = 0.0f;
lpos.hagl_max = INFINITY;
}
// publish vehicle local position data