ekf2: uncorrelate position covariance after velocity reset (#23644)

src/modules/ekf2/EKF/velocity_fusion.cpp

@@ -91,6 +91,9 @@ void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f
 		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 1, math::max(sq(0.01f), new_horz_vel_var(1)));
 	}
 
+	P.uncorrelateCovarianceSetVariance<1>(State::pos.idx, P(State::pos.idx, State::pos.idx));
+	P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 1, P(State::pos.idx + 1, State::pos.idx + 1));
+
 	_output_predictor.resetHorizontalVelocityTo(delta_horz_vel);
 
 	// record the state change
@@ -117,6 +120,8 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
 		P.uncorrelateCovarianceSetVariance<1>(State::vel.idx + 2, math::max(sq(0.01f), new_vert_vel_var));
 	}
 
+	P.uncorrelateCovarianceSetVariance<1>(State::pos.idx + 2, P(State::pos.idx + 2, State::pos.idx + 2));
+
 	_output_predictor.resetVerticalVelocityTo(delta_vert_vel);
 
 	// record the state change

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

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src/modules/ekf2/test/change_indication/iris_gps.csv

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