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reset position-mode line following after position reset

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This commit is contained in:
Marco Hauswirth
2024-07-26 18:01:44 +02:00
committed by Silvan Fuhrer
parent 97561d7802
commit 5808dac4bc
3 changed files with 23 additions and 13 deletions
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src/modules/ekf2/EKF/ekf.cpp
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@@ -330,6 +330,7 @@ bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, fl
&& fuseDirectStateMeasurement(innov(1), innov_var(1), obs_var, State::pos.idx + 1)
) {
ECL_INFO("fused external observation as position measurement");
_state_reset_status.reset_count.posNE++;
_time_last_hor_pos_fuse = _time_delayed_us;
_last_known_pos.xy() = _state.pos.xy();
return true;