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position_estimator_inav: estimate distance to bottom rate, increase time of position estimation on only accelerometer, reduce weight for GPS if flow available

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Anton Babushkin
2013-10-12 11:20:20 +02:00
parent 2b1a11b16d
commit c0c366d6ee
4 changed files with 42 additions and 20 deletions
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src/modules/uORB/topics/vehicle_local_position.h
+1 -1
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@@ -79,7 +79,7 @@ struct vehicle_local_position_s
bool landed; /**< true if vehicle is landed */
/* Distance to surface */
float dist_bottom; /**< Distance to bottom surface (ground) */
float v_dist_bottom; /**< Distance to bottom surface (ground) change rate */
float dist_bottom_rate; /**< Distance to bottom surface (ground) change rate */
uint64_t surface_bottom_timestamp; /**< Time when new bottom surface found */
bool dist_bottom_valid; /**< true if distance to bottom surface is valid */
};