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ekf2: allow manual position reset when horizontal aiding is active

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This allows the pilot to override position esitmates manually
This commit is contained in:
bresch
2025-07-29 14:29:19 +02:00
committed by Mathieu Bresciani
parent 646133a4bf
commit 582b8f0a2b
1 changed files with 3 additions and 4 deletions
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src/modules/ekf2/EKF2.cpp
+3 -4
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@@ -531,10 +531,9 @@ 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
|| (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gnss_pos))
&& PX4_ISFINITE(vehicle_command.param2)
&& PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
if (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,