From e35c1f430cdc10e7bdf82de94d14c5f50bb3837e Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 1 Apr 2025 11:20:29 +0200 Subject: [PATCH] EKF-AGP: only reset lat/lon when starting --- .../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 675bffdd3c..77e7ff714b 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 @@ -108,7 +108,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed bool reset = false; if (!fused && !ekf.isOtherSourceOfHorizontalPositionAidingThan(ekf.control_status_flags().aux_gpos)) { - ekf.resetGlobalPositionTo(sample.latitude, sample.longitude, sample.altitude_amsl, pos_var, sq(sample.epv)); + ekf.resetHorizontalPositionTo(sample.latitude, sample.longitude, Vector2f(aid_src.observation_variance)); ekf.resetAidSourceStatusZeroInnovation(aid_src); reset = true; }