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reset terrain to rng before reset aid source

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This commit is contained in:
Jacob Dahl 2025-06-20 13:01:41 -08:00
parent 1386ec2436
commit 2b6f09cd0f
2 changed files with 3 additions and 3 deletions
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4
src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp
View File

@ -232,9 +232,9 @@ void Ekf::fuseRangeAsHeightAiding()
// PX4_INFO("FIRST range terrain fusion, resetting terrain to range");
PX4_INFO("FIRST range terrain fusion, resetting terrain to range");
resetTerrainToRng(_aid_src_rng_hgt);
resetAidSourceStatusZeroInnovation(_aid_src_rng_hgt);
resetAltitudeTo(_aid_src_rng_hgt.observation - _state.terrain);
resetTerrainToRng(_aid_src_rng_hgt);
}
}
@ -242,8 +242,8 @@ void Ekf::fuseRangeAsHeightAiding()
if (!optical_flow_for_terrain && innovation_rejected
&& kinematically_consistent) {
PX4_INFO("range terrain fusion, resetting terrain to range");
resetAidSourceStatusZeroInnovation(_aid_src_rng_hgt);
resetTerrainToRng(_aid_src_rng_hgt);
resetAidSourceStatusZeroInnovation(_aid_src_rng_hgt);
}
// Fuse

2
src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
View File

@ -307,7 +307,7 @@ void FlightTaskManualAltitude::_ekfResetHandlerHeading(float delta_psi)
void FlightTaskManualAltitude::_ekfResetHandlerHagl(float delta_hagl)
{
PX4_INFO("_ekfResetHandlerHagl");
// PX4_INFO("_ekfResetHandlerHagl");
_dist_to_bottom_lock = NAN;
}