mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
ba640acfcc
- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis - only publish on actual updates or becoming inactive - fix dt (previous timestamp wasn't being saved) - use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter - check local position validity before using - mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data - land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available - mc_pos_control: only use hover thrust estimate if valid