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init height using baro when set to ev height (#388) 

this also makes sure the _baro_hgt_offset is being initialized correctly
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ChristophTobler 7 years ago committed by Paul Riseborough
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1 changed files with 2 additions and 2 deletions
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  1. 4
      EKF/ekf.cpp

4
EKF/ekf.cpp
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@ -190,8 +190,8 @@ bool Ekf::initialiseFilter()
// accumulate enough height measurements to be confident in the qulaity of the data // accumulate enough height measurements to be confident in the qulaity of the data
if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS || if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS ||
_primary_hgt_source == VDIST_SENSOR_RANGE) { _primary_hgt_source == VDIST_SENSOR_RANGE || _primary_hgt_source == VDIST_SENSOR_EV) {
// if the user parameter specifies use of GPS/range finder for height we use baro height initially and switch to GPS/range finder // if the user parameter specifies use of GPS/range/EV finder for height we use baro height initially and switch to GPS/range/EV finder
// later when it passes checks. // later when it passes checks.
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) { if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
if ((_hgt_counter == 0) && (_baro_sample_delayed.time_us != 0)) { if ((_hgt_counter == 0) && (_baro_sample_delayed.time_us != 0)) {

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