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EKF: relax range finder data continuity check

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This commit is contained in:
Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent 93c456f2b8
commit fc9f532c34
1 changed files with 3 additions and 3 deletions
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EKF/terrain_estimator.cpp
+3 -3
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@@ -201,7 +201,7 @@ void Ekf::get_hagl_innov_var(float *hagl_innov_var)
// check that the range finder data is continuous // check that the range finder data is continuous
void Ekf::checkRangeDataContinuity() void Ekf::checkRangeDataContinuity()
{ {
// update range data continuous flag (1Hz ie 1000 ms) // update range data continuous flag (1Hz ie 2000 ms)
/* Timing in micro seconds */ /* Timing in micro seconds */
/* Apply a 2.0 sec low pass filter to the time delta from the last range finder updates */ /* Apply a 2.0 sec low pass filter to the time delta from the last range finder updates */
@@ -209,9 +209,9 @@ void Ekf::checkRangeDataContinuity()
_dt_last_range_update_filt_us = _dt_last_range_update_filt_us * (1.0f - alpha) + alpha * _dt_last_range_update_filt_us = _dt_last_range_update_filt_us * (1.0f - alpha) + alpha *
(_time_last_imu - _time_last_range); (_time_last_imu - _time_last_range);
_dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 2e6f); _dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 4e6f);
if (_dt_last_range_update_filt_us < 1e6f) { if (_dt_last_range_update_filt_us < 2e6f) {
_range_data_continuous = true; _range_data_continuous = true;
} else { } else {