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Plane: ensure rangefinder last_time resets 

ensure rangefinder_state.last_correction_time_ms resets to zero via memset(&rangefinder_state, 0..)
master
Tom Pittenger 8 years ago committed by GitHub
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fe3d57b19c
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350ed20460
1 changed files with 3 additions and 1 deletions
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  1. 4
      ArduPlane/altitude.cpp

4
ArduPlane/altitude.cpp
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@ -659,8 +659,10 @@ void Plane::rangefinder_height_update(void)
rangefinder_state.correction = correction; rangefinder_state.correction = correction;
rangefinder_state.initial_correction = correction; rangefinder_state.initial_correction = correction;
auto_state.initial_land_slope = auto_state.land_slope; auto_state.initial_land_slope = auto_state.land_slope;
rangefinder_state.last_correction_time_ms = now;
} else { } else {
rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction; rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction;
rangefinder_state.last_correction_time_ms = now;
if (fabsf(rangefinder_state.correction - rangefinder_state.initial_correction) > 30) { if (fabsf(rangefinder_state.correction - rangefinder_state.initial_correction) > 30) {
// the correction has changed by more than 30m, reset use of Lidar. We may have a bad lidar // the correction has changed by more than 30m, reset use of Lidar. We may have a bad lidar
if (rangefinder_state.in_use) { if (rangefinder_state.in_use) {
@ -669,7 +671,7 @@ void Plane::rangefinder_height_update(void)
memset(&rangefinder_state, 0, sizeof(rangefinder_state)); memset(&rangefinder_state, 0, sizeof(rangefinder_state));
} }
} }
rangefinder_state.last_correction_time_ms = now;
} }
} }
#endif #endif

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