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ekf2: handle external altitude resets

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bresch
2024-08-23 15:33:21 +02:00
committed by Mathieu Bresciani
parent cd2170deea
commit bab256bfe6
5 changed files with 148 additions and 39 deletions
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src/modules/ekf2/EKF2.cpp
+2 -3
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@@ -545,9 +545,8 @@ void EKF2::Run()
accuracy = vehicle_command.param3;
}
// TODO add check for lat and long validity
if (_ekf.resetGlobalPosToExternalObservation(vehicle_command.param5, vehicle_command.param6,
accuracy, timestamp_observation)
if (_ekf.resetGlobalPosToExternalObservation(vehicle_command.param5, vehicle_command.param6, vehicle_command.param7,
accuracy, accuracy, timestamp_observation)
) {
command_ack.result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;