From 269d077faeff365623bb30c684b038d424d267f4 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 29 Apr 2019 15:12:07 +0200
Subject: [PATCH] ekf2: only check ground effect if it's configured
---
src/modules/ekf2/ekf2_main.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 8f33b24f38..1b6ee6e290 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1419,7 +1419,8 @@ void Ekf2::run()
_had_valid_terrain = lpos.dist_bottom_valid;
}
- if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+ // only consider ground effect if compensation is configured and the vehicle is armed (props spinning)
+ if (_param_ekf2_gnd_eff_dz.get() > 0.0f && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// set ground effect flag if vehicle is closer than a specified distance to the ground
if (lpos.dist_bottom_valid) {
_ekf.set_gnd_effect_flag(lpos.dist_bottom < _param_ekf2_gnd_max_hgt.get());
@@ -1428,7 +1429,7 @@ void Ekf2::run()
// _had_valid_terrain is used to make sure that we don't fall back to using this option
// if we temporarily lose terrain data due to the distance sensor getting out of range
- } else if (vehicle_land_detected_updated && _param_ekf2_gnd_eff_dz.get() > 0.0f && !_had_valid_terrain) {
+ } else if (vehicle_land_detected_updated && !_had_valid_terrain) {
// update ground effect flag based on land detector state
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
}
--
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