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ekf2_terrain: handle height reset

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bresch
2023-09-25 09:34:14 -04:00
committed by Daniel Agar
parent 6cb2c176d5
commit 514e0330e5
5 changed files with 38 additions and 1 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+4
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@@ -211,6 +211,10 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + delta_z);
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_TERRAIN)
terrainHandleVerticalPositionReset(delta_z);
#endif
// Reset the timout timer
_time_last_hgt_fuse = _time_delayed_us;
}