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ekf2_ev: do not reset learned bias

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When ev resets without GNSS currently active, still consider the
position bias that was learned so far (GNSS fusion was maybe used in the
past and a meaningful bias was esimated).
This commit is contained in:
bresch
2023-06-05 16:10:14 +02:00
parent 4bb2c6e758
commit 3e4e4b8561
1 changed files with 1 additions and 2 deletions
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src/modules/ekf2/EKF/ev_pos_control.cpp
+1 -2
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@@ -230,8 +230,7 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
if (!_control_status.flags.gps) { if (!_control_status.flags.gps) {
ECL_INFO("reset to %s", EV_AID_SRC_NAME); ECL_INFO("reset to %s", EV_AID_SRC_NAME);
_information_events.flags.reset_pos_to_vision = true; _information_events.flags.reset_pos_to_vision = true;
resetHorizontalPositionTo(measurement, measurement_var); resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var);
_ev_pos_b_est.reset();
} else { } else {
_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement); _ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);