ecl: check that the range finder data accuracy #473
Conversation
EKF/terrain_estimator.cpp
Outdated
| void Ekf::checkRangeDataAccuracy() | ||
| { | ||
| // get most recent range measurement from buffer | ||
| _rng_data_accuracy_good = _range_buffer.get_newest().variance <= 0.3; |
There was a problem hiding this comment.
Seems like an arbitrary magic number.
There was a problem hiding this comment.
@mhkabir Yes, If you agree with this scheme, I will add it as a parameteｒ as soon.
|
I am trying to coordinate a number of changes and issues relating to range finder use at the moment: PX4/PX4-Autopilot#9861 They will make this PR obsolete. |
|
@jiejiezhang PR PX4/PX4-Autopilot#9865 should meet your immediate requirement provided you modify your code so that publisher of the distance sensor topic sets the quality to 0 when the sensor specific checks fail. Once PX4/PX4-Autopilot#9865 has been merged I will then submit additional PR's to move the checking the of the quality to inside the ecl library and also fix PX4/PX4-Autopilot#9861. |
Thanks very much!!! 👍 |
check that the range finder data accuracy. Replace #472