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ekf2: add observation method for HAGL

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This commit is contained in:
Paul Riseborough
2022-02-22 14:29:26 +01:00
committed by bresch
parent 899c0f2309
commit d1fd00b92a
3 changed files with 101 additions and 6 deletions
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src/modules/ekf2/EKF/control.cpp
+6 -6
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@@ -901,18 +901,18 @@ void Ekf::controlHeightFusion()
fuseGpsHgt();
}
} else if (_control_status.flags.rng_hgt) {
if (_range_sensor.isDataHealthy()) {
fuseRngHgt();
}
} else if (_control_status.flags.ev_hgt) {
if (_control_status.flags.ev_hgt && _ev_data_ready) {
fuseEvHgt();
}
}
// Fuse range finder data if available
const bool use_for_hagl = _terrain_initialised && shouldUseRangeFinderForHagl();
if ((use_for_hagl || _control_status.flags.rng_hgt) && _range_sensor.isDataHealthy()) {
fuseHaglAllStates();
}
}
void Ekf::checkRangeAidSuitability()