ekf2_terrain: handle height reset

2026-10-28 21:43:34 +08:00 · 2023-09-25 09:34:14 -04:00
parent 6cb2c176d5
commit 514e0330e5
5 changed files with 38 additions and 1 deletions
@@ -917,6 +917,7 @@ private:
 	float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }

 	void controlHaglFakeFusion();
+	void terrainHandleVerticalPositionReset(float delta_z);

 # if defined(CONFIG_EKF2_RANGE_FINDER)
 	// update the terrain vertical position estimate using a height above ground measurement from the range finder