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ground effect: removed dependency on local position

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2019-01-22 21:44:57 +01:00
committed by Paul Riseborough
parent 7845ff4360
commit f95cd4b358
1 changed files with 2 additions and 5 deletions
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EKF/control.cpp
+2 -5
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@@ -982,12 +982,9 @@ void Ekf::controlHeightFusion()
_hgt_sensor_offset = 0.0f; _hgt_sensor_offset = 0.0f;
} }
// Turn off ground effect compensation if it times out or sufficient height has been gained // Turn off ground effect compensation if it times out
// since takeoff.
if (_control_status.flags.gnd_effect) { if (_control_status.flags.gnd_effect) {
if (((_time_last_imu - _time_last_gnd_effect_on) > GNDEFFECT_TIMEOUT) || if ((_time_last_imu - _time_last_gnd_effect_on > GNDEFFECT_TIMEOUT)) {
(((_last_on_ground_posD - _state.pos(2)) > _params.gnd_effect_max_hgt) &&
_control_status.flags.in_air)) {
_control_status.flags.gnd_effect = false; _control_status.flags.gnd_effect = false;
} }