EKF: Fix bug when resetting position and velocities for fw due to something else than bad yaw estimate

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2026-10-22 13:13:33 +08:00 · 2017-10-17 15:08:09 +02:00
parent 410697cb0c
commit c81cdfa1ce
2 changed files with 2 additions and 4 deletions
@@ -454,6 +454,8 @@ void Ekf::controlGpsFusion()
 				if (_control_status.flags.fixed_wing) {
 					// if flying a fixed wing aircraft, do a complete reset that includes yaw, velocity and position
 					realignYawGPS();
+					resetVelocity();
+					resetPosition();
 				} else {
 					resetVelocity();
 					resetPosition();