Altitude Offset for Flowdeck V2 with CF Bolt

[johnnwallace]

I'm using a Flowdeck V2 on a CF Bolt platform using the F450 drone frame with legs. As such, the z ranger on the deck is much higher off the ground than it would typically be when using a CF 2.1. I was wondering if there was a way to add an offset parameter so that even if the deck is ~0.1 m off the ground, the drone's altitude would be interpreted as ~0 m. If that functionality is not built into the firmware by default, what would the best location be in the code to add that?

Thanks!

[knmcguire]

That is being handled from the zranger2 driver code. Before it is sent to the Kalman filter, you can add the 0.1 meters to the distance like this? I've added the DISTANCE_OFFSET here so that you can make that a define on top of the file.

  float distance = (float)range_last * 0.001f + DISTANCE_OFFSET; 
  float stdDev = expStdA * (1.0f  + expf( expCoeff * (distance - expPointA)));
  rangeEnqueueDownRangeInEstimator(distance, stdDev, xTaskGetTickCount());