From 267ef480260729b7e04aa0bebb58154bbf4cdc05 Mon Sep 17 00:00:00 2001 From: priseborough Date: Wed, 10 Sep 2014 20:13:58 +1000 Subject: [PATCH] Copter : disable tilt correction of range finder data for use by EKF This is a temporary fix. We need to make separate range and altitude measurements available. --- ArduCopter/config.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 09b7b725fe..cf52fa5e04 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -223,6 +223,10 @@ # define SONAR_TIMEOUT_MS 1000 // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt #endif +#ifndef SONAR_TILT_CORRECTION // by disable tilt correction for use of range finder data by EKF + # define SONAR_TILT_CORRECTION DISABLED +#endif + ////////////////////////////////////////////////////////////////////////////// // Channel 7 and 8 default options //