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update ekf #8123

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merged 4 commits into from
Oct 18, 2017
Merged

update ekf #8123

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ab50f4c
use distance to ground if on ground an distance is out of range
ChristophTobler Oct 13, 2017
b0e1ea2
update ecl/ekf submodule
ChristophTobler Oct 13, 2017
1eb9358
use get() for BlockParam
ChristophTobler Oct 17, 2017
dcd24b0
update ecl/ekf submodule
priseborough Oct 17, 2017
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2 changes: 1 addition & 1 deletion src/lib/ecl
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Submodule ecl updated from 160e4d to 61e0c0
8 changes: 7 additions & 1 deletion src/modules/ekf2/ekf2_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -578,7 +578,13 @@ void Ekf2::run()
// check if distance sensor is within working boundaries
if (range_finder.min_distance >= range_finder.current_distance ||
range_finder.max_distance <= range_finder.current_distance) {
range_finder_updated = false;
// use rng_gnd_clearance if on ground
if (_ekf.get_in_air_status()) {
range_finder_updated = false;

} else {
range_finder.current_distance = _rng_gnd_clearance.get();
}
}
}

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