From 13c5bd44127d13084b45d22450113a2b0002e7d1 Mon Sep 17 00:00:00 2001 From: bresch Date: Mon, 28 Oct 2024 16:54:14 +0100 Subject: [PATCH] ekf-flow: do not reset position when resetting to flow Flow only provides velocity information --- .../EKF/aid_sources/optical_flow/optical_flow_control.cpp | 8 -------- 1 file changed, 8 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp index 60238af105..906e755a2f 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp @@ -230,14 +230,6 @@ void Ekf::resetFlowFusion(const flowSample &flow_sample) const float flow_vel_var = sq(predictFlowRange()) * calcOptFlowMeasVar(flow_sample); resetHorizontalVelocityTo(getFilteredFlowVelNE(), flow_vel_var); - // reset position, estimate is relative to initial position in this mode, so we start with zero error - if (!_control_status.flags.in_air) { - ECL_INFO("reset position to zero"); - //TODO: reset origin instead? - resetHorizontalPositionToLastKnown(); - // resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f); - } - resetAidSourceStatusZeroInnovation(_aid_src_optical_flow); _innov_check_fail_status.flags.reject_optflow_X = false;