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ekf2: add vertical dead-reckoning timeout check for height validity

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bresch
2022-09-15 15:16:47 +02:00
committed by Daniel Agar
parent da99387215
commit bb790c9bec
5 changed files with 57 additions and 16 deletions
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src/modules/ekf2/EKF2.cpp
+2 -2
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@@ -1098,9 +1098,9 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
// TODO: better status reporting
lpos.xy_valid = _ekf.local_position_is_valid();
lpos.z_valid = !_preflt_checker.hasVertFailed();
lpos.z_valid = _ekf.isLocalVerticalPositionValid();
lpos.v_xy_valid = _ekf.local_position_is_valid();
lpos.v_z_valid = !_preflt_checker.hasVertFailed();
lpos.v_z_valid = _ekf.isLocalVerticalVelocityValid();
// Position of local NED origin in GPS / WGS84 frame
if (_ekf.global_origin_valid()) {