From bfbc76189e48fbb1250667eaa89cafb9d8aa8b9e Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 7 Mar 2025 14:27:36 +0100 Subject: [PATCH] ekf-agp: use same timeout value as other aid sources --- .../EKF/aid_sources/aux_global_position/aux_global_position.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp index 77e7ff714b..bae4849c39 100644 --- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp +++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp @@ -137,7 +137,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed if (continuing_conditions) { ekf.fuseHorizontalPosition(aid_src); - if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.no_aid_timeout_max) + if (isTimedOut(aid_src.time_last_fuse, imu_delayed.time_us, ekf._params.reset_timeout_max) || (_reset_counters.lat_lon != sample.lat_lon_reset_counter)) { if (ekf.isOnlyActiveSourceOfHorizontalPositionAiding(ekf.control_status_flags().aux_gpos)) {