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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
2025-07-15 09:24:40 +02:00
parent 84cdc05195
commit 983f630314
4 changed files with 13 additions and 6 deletions
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src/modules/ekf2/EKF/ekf.cpp
+4 -2
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@@ -335,9 +335,11 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
const bool innov_rejected = (test_ratio > 1.f);
if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected) {
// when on ground or accuracy chosen to be very low, we hard reset position
if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected || isHorizontalPositionAidingActive()) {
// When on ground or accuracy chosen to be very low, we hard reset position
// this allows the user to still send hard resets at any time
// Also reset when another position source is active as it it would otherwise have almost no
// visible effect to the position estimate.
ECL_INFO("reset position to external observation");
_information_events.flags.reset_pos_to_ext_obs = true;
src/modules/ekf2/EKF/estimator_interface.cpp
+5
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@@ -622,6 +622,11 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
+ int(_control_status.flags.aux_gpos);
}
bool EstimatorInterface::isHorizontalPositionAidingActive() const
{
return getNumberOfActiveHorizontalPositionAidingSources() > 0;
}
int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
{
return int(_control_status.flags.gnss_vel)
src/modules/ekf2/EKF/estimator_interface.h
+1
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@@ -231,6 +231,7 @@ public:
// Return true if at least one source of horizontal aiding is active
// the flags considered are opt_flow, gps, ev_vel and ev_pos
bool isHorizontalAidingActive() const;
bool isHorizontalPositionAidingActive() const;
bool isVerticalAidingActive() const;
bool isNorthEastAidingActive() const;
src/modules/ekf2/EKF2.cpp
+3 -4
View File
@@ -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,