[1.14] Fix terrain estimator validity issue #22423
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added 2 commits
November 21, 2023 13:37
Bug not present after 1.14
Even if there is some horizontal motion, a passing check should be accepted as the terrain can be flat. However, the vehicle must not be moving horizontally to invalidate the consistency as a change in terrain can make the kinematic check temporarily fail.
dagar
approved these changes
Nov 21, 2023
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Solved Problem
fixes: #22357
The issues was caused by the reset function setting
_time_last_healthy_rng_datato 0, leading to an immediate timeout at the next loop run.Issue got introduces in #21338
and fixed in #22030
I also decided to pull #22117 to reduce the likelihood of hitting another corner care that we fixed recently on the range finder kinematic consistency check.
Verified in replay using https://review.px4.io/plot_app?log=76f8ab88-738c-4a14-a9f7-dd87dd617366
Before:
After:
