From eb1bad018587497928c7d81949397d8e243a8d05 Mon Sep 17 00:00:00 2001 From: Hyon Lim Date: Fri, 27 Mar 2020 20:56:28 +0900 Subject: [PATCH] A comment is added for TFmini valid minimum parameter. --- src/drivers/distance_sensor/tfmini/TFMINI.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.cpp b/src/drivers/distance_sensor/tfmini/TFMINI.cpp index ecaa12b977..4e18c849e2 100644 --- a/src/drivers/distance_sensor/tfmini/TFMINI.cpp +++ b/src/drivers/distance_sensor/tfmini/TFMINI.cpp @@ -60,6 +60,11 @@ TFMINI::init() switch (hw_model) { case 1: // TFMINI (12m, 100 Hz) + // Note: + // Sensor specification shows 0.3m as minimum, but in practice + // 0.3 is too close to minimum so chattering of invalid sensor decision + // is happening sometimes. this cause EKF to believe inconsistent range readings. + // So we set 0.4 as valid minimum. _px4_rangefinder.set_min_distance(0.4f); _px4_rangefinder.set_max_distance(12.0f); _px4_rangefinder.set_fov(math::radians(1.15f));