From 7ec6f0dca6ec604e5a62707e487ad754a23ded7a Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 5 May 2019 06:22:30 +0300
Subject: [PATCH] lpe: use minimum flow altitude from uORB instead of
hardcoding
---
src/modules/local_position_estimator/sensors/flow.cpp | 5 +----
1 file changed, 1 insertion(+), 4 deletions(-)
diff --git a/src/modules/local_position_estimator/sensors/flow.cpp b/src/modules/local_position_estimator/sensors/flow.cpp
index bde403358e..c6fd629605 100644
--- a/src/modules/local_position_estimator/sensors/flow.cpp
+++ b/src/modules/local_position_estimator/sensors/flow.cpp
@@ -10,9 +10,6 @@ extern orb_advert_t mavlink_log_pub;
static const uint32_t REQ_FLOW_INIT_COUNT = 10;
static const uint32_t FLOW_TIMEOUT = 1000000; // 1 s
-// minimum flow altitude
-static const float flow_min_agl = 0.3;
-
void BlockLocalPositionEstimator::flowInit()
{
// measure
@@ -44,7 +41,7 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
}
// check for agl
- if (agl() < flow_min_agl) {
+ if (agl() < _sub_flow.get().min_ground_distance) {
return -1;
}
--
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