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ekf2-origin: backcompute based on lpos validity

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bresch 2024-08-26 11:53:40 +02:00 committed by Mathieu Bresciani
parent 130fefb1e7
commit cd2170deea
1 changed files with 3 additions and 3 deletions
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6
src/modules/ekf2/EKF/ekf_helper.cpp
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@ -110,7 +110,7 @@ bool Ekf::setLatLonOrigin(const double latitude, const double longitude, const f
double current_lon = static_cast<double>(NAN);
// if we are already doing aiding, correct for the change in position since the EKF started navigating
if (_pos_ref.isInitialized() && isHorizontalAidingActive()) {
if (_pos_ref.isInitialized() && local_position_is_valid()) {
_pos_ref.reproject(_state.pos(0), _state.pos(1), current_lat, current_lon);
current_pos_available = true;
}
@ -146,7 +146,7 @@ bool Ekf::setAltOrigin(const float altitude, const float epv)
_gpos_origin_epv = epv;
}
if (PX4_ISFINITE(gps_alt_ref_prev) && isVerticalPositionAidingActive()) {
if (PX4_ISFINITE(gps_alt_ref_prev) && isLocalVerticalPositionValid()) {
// determine current z
const float z_prev = _state.pos(2);
const float current_alt = -z_prev + gps_alt_ref_prev;
@ -187,7 +187,7 @@ bool Ekf::setLatLonOriginFromCurrentPos(const double latitude, const double long
_pos_ref.initReference(latitude, longitude, _time_delayed_us);
// if we are already doing aiding, correct for the change in position since the EKF started navigating
if (isHorizontalAidingActive()) {
if (local_position_is_valid()) {
double est_lat;
double est_lon;
_pos_ref.reproject(-_state.pos(0), -_state.pos(1), est_lat, est_lon);