move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 08:23:34 +08:00

* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>

This commit is contained in:

Daniel Agar

2020-03-11 21:20:54 -04:00

committed by

GitHub

co-authored by

bresch

parent 4b9e6964f4

commit f9794e99f8

74 changed files with 419 additions and 141 deletions

									
										src/modules/mc_pos_control/CMakeLists.txt
									
		-1
	
												View File
												
				@@ -50,5 +50,4 @@ px4_add_module(

						WeatherVane

						CollisionPrevention

						Takeoff

						HoverThrustEstimator

					)