fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 07:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

addressed review comments

Browse Source
This commit is contained in:
Roman
2019-05-15 17:16:36 +10:00
committed by Paul Riseborough
parent 8673ab0346
commit c085d7295d
2 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/terrain_estimator.cpp
+5 -1
View File
@@ -56,7 +56,8 @@ bool Ekf::initHagl()
// success
return true;
} else if (_flow_for_terrain_data_ready) {
_terrain_vpos = _state.pos(2);
// initialise terrain vertical position to origin as this is the best guess we have
_terrain_vpos = fmaxf(0.0f, _state.pos(2));
_terrain_var = 100.0f;
return true;
} else if (!_control_status.flags.in_air) {
@@ -214,6 +215,9 @@ void Ekf::fuseFlowForTerrain()
// Calculate observation matrix for flow around the vehicle x axis
float Hx = vel_body(1) * t0 /(pred_hagl * pred_hagl);
// Constrain terrain variance to be non-negative
_terrain_var = fmaxf(_terrain_var, 0.0f);
// Cacluate innovation variance
_flow_innov_var[0] = Hx * Hx * _terrain_var + R_LOS;