From 7e7506ec52d82f1785e299de16309ff08ce07545 Mon Sep 17 00:00:00 2001 From: Hyon Lim Date: Thu, 26 Mar 2020 02:51:34 +0900 Subject: [PATCH] Enhancement: 0.3 for TFMini was too low, as TFmini outputs slightly more than 0.3 when it is very near to the ground. This cause EKF not fallback to barometer in worst case. --- src/drivers/distance_sensor/tfmini/TFMINI.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.cpp b/src/drivers/distance_sensor/tfmini/TFMINI.cpp index ab69d110ce..ecaa12b977 100644 --- a/src/drivers/distance_sensor/tfmini/TFMINI.cpp +++ b/src/drivers/distance_sensor/tfmini/TFMINI.cpp @@ -60,7 +60,7 @@ TFMINI::init() switch (hw_model) { case 1: // TFMINI (12m, 100 Hz) - _px4_rangefinder.set_min_distance(0.3f); + _px4_rangefinder.set_min_distance(0.4f); _px4_rangefinder.set_max_distance(12.0f); _px4_rangefinder.set_fov(math::radians(1.15f));