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lpe: use minimum flow altitude from uORB instead of hardcoding

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This commit is contained in:
Oleg Kalachev
2019-05-05 06:22:30 +03:00
committed by Lorenz Meier
parent 07e6730cd7
commit 7ec6f0dca6
1 changed files with 1 additions and 4 deletions
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src/modules/local_position_estimator/sensors/flow.cpp
+1 -4
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@@ -10,9 +10,6 @@ extern orb_advert_t mavlink_log_pub;
static const uint32_t REQ_FLOW_INIT_COUNT = 10; static const uint32_t REQ_FLOW_INIT_COUNT = 10;
static const uint32_t FLOW_TIMEOUT = 1000000; // 1 s static const uint32_t FLOW_TIMEOUT = 1000000; // 1 s
// minimum flow altitude
static const float flow_min_agl = 0.3;
void BlockLocalPositionEstimator::flowInit() void BlockLocalPositionEstimator::flowInit()
{ {
// measure // measure
@@ -44,7 +41,7 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
} }
// check for agl // check for agl
if (agl() < flow_min_agl) { if (agl() < _sub_flow.get().min_ground_distance) {
return -1; return -1;
} }