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added support to reset vehicle position based on external position (#22444)

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via command MAV_CMD_EXTERNAL_POSITION_ESTIMATE

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2024-01-11 13:09:22 +01:00
committed by GitHub
parent d45c3d3407
commit 603c3f6636
6 changed files with 51 additions and 0 deletions
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src/modules/ekf2/EKF/ekf.h
+3
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@@ -502,6 +502,8 @@ public:
return is_healthy;
}
void resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
void updateParameters();
friend class AuxGlobalPosition;
@@ -812,6 +814,7 @@ private:
void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var);
void resetHorizontalPositionToLastKnown();
void resetHorizontalPositionToExternal(const Vector2f &new_horiz_pos, float horiz_accuracy);
void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var);
void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); }