EKF2: move handling of invalid range into ECL #12988
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The ecl library EKF is able to use vehicle motion and in-air status to better determine when the default on-ground range finder reading can be used. The description for the EKF2_MIN_RNG parameter has been updated to make its use clearer. Requires ecl at commit 267195a or later.
jkflying
approved these changes
Sep 19, 2019
| * Minimum valid range for the range finder | ||
| * Expected range finder reading when on ground. | ||
| * | ||
| * If the vehicle is on ground, is not moving as determined by the motion test controlled by EKF2_MOVE_TEST and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is avilable at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground. |
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FYI @hamishwillee , not sure if we have any other documentation on this parameter, but the description was misleading before.
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Rebased version of #12950
The TL;DR is:
EKF2_MIN_RNG