Improve range finder fault detection at low vertical speed #23878
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bresch
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Can you check on the CI flash failure. Otherwise it looks good. |
The issue is that when the HAGL is low, the drone will usually decelerate and then the check would run anymore. If the low HAGL estimate is due to bad sensor readings (e.g.: reflections), it will be stuck in that state.
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
sfuhrer
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Nov 5, 2024
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CI flash issue is already present without this PR, thus not blocking the merge. |
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Solved Problem
When the height above ground (HAGL) estimate is low, the drone will usually decelerate and then the check would run anymore (default of
MPC_LAND_CRWLis 0.3m/s and the kinematic consistency checks runs when > 0.5m/s). If the low HAGL estimate is due to bad sensor readings (e.g.: reflections), it will be stuck in that state.Solution
Allow invalidating the kinematic consistency at any vertical speed but only validate if there is a significant vertical speed (the latter condition is the same as before).