EKF3 Rangefinder Use Bugfix #22250
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EKF3 Rangefinder Use Bugfix #22250
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When using range finder as the primary height sensor when low and slow via the EK3_RNG_USE_HGT and EK3_RNG_USE_SPD parameters a condition can occur where if the range finder is not returning valid readings and the takeOffDetected test is tricked into thinking the vehicle is on ground, the range finder value is set to the RNGFNDx_GNDCLEAR value which results in rapid switching of the EKF's height estimate as shown in this user log with
EK3_RNG_USE_HGT 50.000000
EK3_RNG_USE_SPD 5.000000
After this change is applied, the rapid height estimate switching is eliminated