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EKF: range_finder parameterize range sensor quality hysteresis time

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Claudio Micheli
2020-11-04 18:35:39 +01:00
committed by GitHub
parent 6158d6d841
commit c4d162f9a0
4 changed files with 10 additions and 2 deletions
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EKF/control.cpp
+3 -1
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@@ -124,11 +124,13 @@ void Ekf::controlFusionModes()
// Get range data from buffer and check validity
const bool is_rng_data_ready = _range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sensor.getSampleAddress());
_range_sensor.setDataReadiness(is_rng_data_ready);
_range_sensor.runChecks(_imu_sample_delayed.time_us, _R_to_earth);
// update range sensor angle parameters in case they have changed
_range_sensor.setPitchOffset(_params.rng_sens_pitch);
_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
_range_sensor.setQualityHysteresis(_params.range_valid_quality_s);
_range_sensor.runChecks(_imu_sample_delayed.time_us, _R_to_earth);
}
if (_range_sensor.isDataHealthy()) {