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EKF: added absolute range altimeter #547
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This is the PR in PX4/Firmware: PX4/PX4-Autopilot#11130 |
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Why don't you just set _R_rng_to_earth_2_2 to unity in the case of an attitude compensated range sensor? |
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It's a good question :) but actually I don't know if that rotation matrix (or only the coscos in R[2][2]) can be used in other scenario. |
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Please provide a test log. For a simple change like this, it could be using SITL, with the range finder modified to provide true HAGL. |
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I'm closing this as it has become stale and there has been no progress for some time. Please rebase. and open a new PR with test evidence. |
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Added support for absolute altimeter or for range finders mounted on a gimbal such that they are alway vertical, so there is no need to rotate from body to earth frame.
A parameter is used to enable this feature.
WARNING: requires also the pull request in PX4/Firmware with the appropriate modifications to EKF2 module.