Dust concerns were one reason, but avoiding glitches and ensuring the smoothness of position data is another. > Then, once the vehicle estimates that the legs

Dust concerns were one reason, but avoiding glitches and ensuring the smoothness of position data is another. > Then, once the vehicle estimates that the legs are within 1 meter of the ground, the algorithms stop using the navigation camera and altimeter for estimation, relying on the IMU in the same way as on takeoff. As with takeoff, this avoids dust obscuration, but it also serves another purpose -- by relying only on the IMU, we expect to have a very smooth and continuous estimate of our vertical velocity, which is important in order to avoid detecting touchdown prematurely. https://mars.nasa.gov/technology/helicopter/status/298/what-were-learning-about-ingenuitys-flight-control-and-aerodynamic-performance/ https://mars.nasa.gov/technology/helicopter/status/298/what-...