Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Use range finder for height control instead of height aiding #18864

Closed
wants to merge 1 commit into from
Closed

Use range finder for height control instead of height aiding #18864

wants to merge 1 commit into from

Commits on Dec 16, 2021

  1. ekf2: remove range aid functionality 

    Range aid was introduced to stabilize the EKF estimates during takeoff
and landind of large vehicle having their barometer highly affected by
ground effects.
This feature has undesired effects on the reference altitude given that
it produces measurements relative to a different datum
(i.e.: the ground). While switching in and out of range aid, the estimator
accumulates an offset that can grow over time (known as ratcheting),
leading to an undesired offset of the estimated global position.

After discussion, it has been agreed that the range finder should only
be used as an assistance for takeoff and landing in the height
controller and not as an aiding source for navigation.
    @bresch
    bresch committed Dec 16, 2021
    Configuration menu
    Copy the full SHA
    d41c4be View commit details
    Browse the repository at this point in the history