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EV height reset (#379)

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* fix typo

* EKF: use baro if it was reset to baro from ev

* EKF: set vert_pos_reset if resetting to ev hgt

otherwise the position controller will not reset the setpoint -> leading to unwanted altitude changes
This commit is contained in:
ChristophTobler
2018-01-15 20:15:56 +11:00
committed by Paul Riseborough
parent 9e16e51d3a
commit cdbca91e79
2 changed files with 18 additions and 2 deletions
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EKF/ekf_helper.cpp
+2 -1
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@@ -240,6 +240,8 @@ void Ekf::resetHeight()
int32_t dt_newest = ev_newest.time_us - _imu_sample_delayed.time_us;
int32_t dt_delayed = _ev_sample_delayed.time_us - _imu_sample_delayed.time_us;
vert_pos_reset = true;
if (std::abs(dt_newest) < std::abs(dt_delayed)) {
_state.pos(2) = ev_newest.posNED(2);
@@ -1592,4 +1594,3 @@ void Ekf::get_ekf2ev_quaternion(float *quat)
quat[i] = quat_ekf2ev(i);
}
}