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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_helper.cpp
+6
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@@ -171,6 +171,12 @@ bool Ekf::isHeightResetRequired() const
return (continuous_bad_accel_hgt || hgt_fusion_timeout);
}
void Ekf::resetHorizontalPositionToExternal(const Vector2f &new_horiz_pos, float horiz_accuracy) {
_information_events.flags.reset_pos_to_ext_obs = true;
ECL_INFO("reset position to external observation");
resetHorizontalPositionTo(new_horiz_pos, sq(horiz_accuracy));
}
void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
{
const float old_vert_pos = _state.pos(2);