EKF: fix bug preventing takeoff in loiter with optical flow #6135
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
Fixes bug that causes relative position status to report as false when using optical flow and using range finder as the primary height sensor.
|
ah wonderful, thanks! |
|
Looks good to me. Merged, thanks! |
|
Is this the reason I'm having issues getting solo to arm green cube and Philips blog guide |
|
@hdtechk, it's unlikely to be related I think unless you're using an optical flow sensor. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Using the range finder as the primary altitude source was causing the terrain validity to report as false. This in turn caused the optical flow to report its position estimate as invalid which prevented the copter from arming in loiter when using only optical flow.