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fix error from refactring commit, fix reset on ground (#23370)

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This commit is contained in:
Marco Hauswirth
2024-07-08 13:55:05 +02:00
committed by GitHub
parent e04c53241a
commit 4bc0286eb8
2 changed files with 5 additions and 4 deletions
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src/modules/ekf2/EKF2.cpp
+3 -2
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@@ -529,8 +529,9 @@ void EKF2::Run()
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE) {
if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning) &&
PX4_ISFINITE(vehicle_command.param2) && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning
|| (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gps)) && PX4_ISFINITE(vehicle_command.param2)
&& PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
) {
const float measurement_delay_seconds = math::constrain(vehicle_command.param2, 0.0f,