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ekf2: calculate dist from bottom values

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This commit is contained in:
bugobliterator
2016-02-17 11:51:53 -08:00
committed by Lorenz Meier
parent 6c5812c528
commit c02d17f56e
1 changed files with 4 additions and 4 deletions
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8
src/modules/ekf2/ekf2_main.cpp
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@@ -490,10 +490,10 @@ void Ekf2::task_main()
// The rotation of the tangent plane vs. geographical north
lpos.yaw = 0.0f;
lpos.dist_bottom = 0.0f; // Distance to bottom surface (ground) in meters
lpos.dist_bottom_rate = 0.0f; // Distance to bottom surface (ground) change rate
lpos.surface_bottom_timestamp = 0; // Time when new bottom surface found
lpos.dist_bottom_valid = false; // true if distance to bottom surface is valid
lpos.dist_bottom = -pos[2] + lpos.ref_alt; // Distance to bottom surface (ground) in meters
lpos.dist_bottom_rate = -vel[2]; // Distance to bottom surface (ground) change rate
lpos.surface_bottom_timestamp = hrt_absolute_time(); // Time when new bottom surface found
lpos.dist_bottom_valid = true; // true if distance to bottom surface is valid
// TODO: uORB definition does not define what thes variables are. We have assumed them to be horizontal and vertical 1-std dev accuracy in metres
// TODO: Should use sqrt of filter position variances