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Silvan Fuhrer
f3cdf70732
Previously the condition was based on hard coded height rate estimate and setpoint values and an altitude error threshold. That showed to be leading to false positives when the vehicle doesn't tightly follow the altitdue ramp given by TECS to achieve a new altitude setpoint, and has become completely infeasibly with the latest TECS rework that leads to non-ramped altitude setpoint changes in the tecs_status message. The new check no longer checks the altitude error but only the height rate instead. It begins to integrate the height rate error once it detects an uncommanded descend condition (height rate negative while setpoint is positive). Integral threshold can be tuned by user (VT_QC_HR_ERROR_I). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>