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Update EKF range finder interface

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kamilritz
2020-01-23 13:27:30 +01:00
committed by Mathieu Bresciani
parent 230d7f2558
commit 9d184ea3d6
1 changed files with 5 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+5 -1
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@@ -1070,7 +1070,11 @@ void Ekf2::Run()
distance_sensor_s range_finder;
if (_range_finder_subs[_range_finder_sub_index].copy(&range_finder)) {
_ekf.setRangeData(range_finder.timestamp, range_finder.current_distance, range_finder.signal_quality);
rangeSample range_sample;
range_sample.rng = range_finder.current_distance;
range_sample.quality = range_finder.signal_quality;
range_sample.time_us = range_finder.timestamp;
_ekf.setRangeData(range_sample);
// Save sensor limits reported by the rangefinder
_ekf.set_rangefinder_limits(range_finder.min_distance, range_finder.max_distance);