From 454b690c4b8a79829c784d057ba6e6f13d117147 Mon Sep 17 00:00:00 2001 From: Daniel Hadlow Date: Fri, 6 Mar 2026 12:00:39 +1300 Subject: [PATCH] Height fusion now only rotates ev samples if they are FRD --- .../ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp index 5e26b059c8..215487e430 100644 --- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp @@ -57,7 +57,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp Matrix3f pos_cov{matrix::diag(ev_sample.position_var)}; // rotate EV to the EKF reference frame unless we're operating entirely in vision frame - if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos)) { + if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos) && ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_FRD) { const Quatf q_error(_ev_q_error_filt.getState());