Mirrors_Framework/PX4-Autopilot
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enable ground effect zone when valid terrain estimate is available

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This commit is contained in:
Elia Tarasov
2019-03-11 14:44:01 +03:00
committed by Roman Bapst
parent aa36fa2dfd
commit 0c24aa6149
1 changed files with 5 additions and 4 deletions
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src/modules/ekf2/ekf2_main.cpp
+5 -4
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@@ -1253,10 +1253,6 @@ void Ekf2::run()
if (vehicle_land_detected_updated) { if (vehicle_land_detected_updated) {
if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) { if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
_ekf.set_in_air_status(!vehicle_land_detected.landed); _ekf.set_in_air_status(!vehicle_land_detected.landed);
if (_gnd_effect_deadzone.get() > 0.0f) {
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
}
} }
} }
@@ -1397,6 +1393,11 @@ void Ekf2::run()
lpos.dist_bottom = _rng_gnd_clearance.get(); lpos.dist_bottom = _rng_gnd_clearance.get();
} }
// update ground effect flag based on terrain estimation
if (lpos.dist_bottom_valid && lpos.dist_bottom < _gnd_effect_deadzone.get()) {
_ekf.set_gnd_effect_flag(true);
}
lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate lpos.dist_bottom_rate = -lpos.vz; // Distance to bottom surface (ground) change rate
_ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv); _ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv);