search

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
10.81k stars 17.26k forks source link

Plane: reject lidar data when it disagrees with baro #4877

Open magicrub opened 8 years ago

magicrub commented 8 years ago

Issue details

When landing at same altitude as takeoff, the baro and lidar should somewhat agree during landing. If not, the lidar should fail sanity checks and be ignored and/or reset.

Version

3.7

Platform

[ ] All [ ] AntennaTracker [ ] Copter [x] Plane [ ] Rover

Airframe type

Fixed Wing

Hardware type

all

Logs

see issue https://github.com/ArduPilot/ardupilot/issues/4876

peterbarker commented 8 years ago

The LIDAR can help catch baro drift. I'm not sure the two disagreeing means you don't trust your LIDAR.

magicrub commented 8 years ago

There are ways

On Sep 22, 2016 4:20 PM, "Peter Barker" notifications@github.com wrote:

The LIDAR can help catch baro drift. I'm not sure the two disagreeing means you don't trust your LIDAR.

— You are receiving this because you were assigned. Reply to this email directly, view it on GitHub https://github.com/ArduPilot/ardupilot/issues/4877#issuecomment-249056016, or mute the thread https://github.com/notifications/unsubscribe-auth/AEj7G4hG4q33tJfCHoTK4klphgDYVKuQks5qsw1JgaJpZM4KEOf_ .

peterbarker commented 8 years ago

Tom points out that In the log in question, the discrepancy is much greater than any sensible amount of BARO drift.

Naterater commented 5 years ago

If baro drift is time-dependent, then I am all for this. However fronts moving in, etc, can cause over 50ft of pressure change in 1 hour, so long flight times may have very significant drift. Generally I don't trust this, and I haven't seen recent issues with bad lidar.