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21 lines
859 B
Plaintext
21 lines
859 B
Plaintext
## FlightTaskManualAltitude
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- dist_bottom_var -- currently terrain variance, I see occasionally dist_bottom diverge and then clamp back to expected
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- ground slowdown (_respectGroundSlowdown) uses mpc_land_alt ... weird, remove?
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- _respectMaxAltitude ... weird, remove? We can instead use dist_bottom validity
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- _respectMinAltitude ... weird, remove? No need for a function
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## FlightTask
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- _dist_to_bottom and _dist_to_ground ... confusing, unify
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## FlightTaskAuto
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- reuse logic for range alt lock
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- _prepareLandSetpoints -- Slow down automatic descend close to ground ... use only with terrain estimate available? (baro estimate unreliable)
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## EKF
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- Vz does not reflect true Vz due to noisy baro
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- Vz errors cause rangefinder kinematic consistency check to fail
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- Position setpoint error remains over long periods (might be related to Vz issues above)
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