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ekf-flow: do not reset position when resetting to flow

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Flow only provides velocity information
This commit is contained in:
bresch
2024-11-22 15:13:47 +01:00
committed by Mathieu Bresciani
parent b19a6ee3b5
commit 13c5bd4412
1 changed files with 0 additions and 8 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
-8
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@@ -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;