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ekf2: add vehicle_local_position dist_bottom_var

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Daniel Agar
2024-06-28 15:24:39 -04:00
parent 3e3b886b5d
commit 5d08b97fd7
2 changed files with 2 additions and 0 deletions
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msg/VehicleLocalPosition.msg
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@@ -56,6 +56,7 @@ float32 ref_alt # Reference altitude AMSL, (metres)
# Distance to surface # Distance to surface
float32 dist_bottom # Distance from from bottom surface to ground, (metres) float32 dist_bottom # Distance from from bottom surface to ground, (metres)
float32 dist_bottom_var # terrain estimate variance (m^2)
bool dist_bottom_valid # true if distance to bottom surface is valid bool dist_bottom_valid # true if distance to bottom surface is valid
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0 uint8 DIST_BOTTOM_SENSOR_NONE = 0
src/modules/ekf2/EKF2.cpp
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@@ -1643,6 +1643,7 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
#if defined(CONFIG_EKF2_TERRAIN) #if defined(CONFIG_EKF2_TERRAIN)
// Distance to bottom surface (ground) in meters, must be positive // Distance to bottom surface (ground) in meters, must be positive
lpos.dist_bottom = math::max(_ekf.getHagl(), 0.f); lpos.dist_bottom = math::max(_ekf.getHagl(), 0.f);
lpos.dist_bottom_var = _ekf.getTerrainVariance();
lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid(); lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid();
lpos.dist_bottom_sensor_bitfield = vehicle_local_position_s::DIST_BOTTOM_SENSOR_NONE; lpos.dist_bottom_sensor_bitfield = vehicle_local_position_s::DIST_BOTTOM_SENSOR_NONE;