 Jacob Dahl
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569849665f
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ekf2: range fusion: while on the ground the rangefinder quality checks are bypassed and a synthetic measurement is fused using the minimum rangefinder distance. The intention of this logic is to ensure the rangefinder can be fused immediately during takeoff even if it's reporting 0 quality while on the ground. This was not working since the rangefinder _time_bad_quality_us was being updated while on the ground. This results in range fusion being disabled as soon as the in_air flag is set, since the time since the last bad quality value has not exceeded the EKF2_RNG_QLTY_T. This commit moves the logic into the SensorRangeFinder::isQualityOk function where the _time_bad_quality_us is only set once airborne.
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2025-09-15 12:29:14 -08:00 |
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alexklimaj
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e89a79b382
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boards: disable multi ekf on all ark flight controllers
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2025-01-14 02:29:07 -05:00 |
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Alex Klimaj
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36ec576c0f
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boards: ark-pi6x remove ekf delay param defaults (#23177)
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2024-06-03 17:52:17 -08:00 |
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alexklimaj
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2498ce6a5c
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boards: add iis2mdc mag to ark pi6x
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2024-04-30 21:26:42 -04:00 |
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alexklimaj
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67b39314bf
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boards: update ark_pi6x EKF delays
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2024-04-30 21:26:42 -04:00 |
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alexklimaj
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1b1479a92b
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airframes: Droneblocks DEXI 5
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2024-04-12 14:44:01 -04:00 |
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alexklimaj
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528ad1e87d
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boards: ARK Pi6X Initial Commit
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2024-04-12 14:44:01 -04:00 |
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