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EKF-AGP: only reset lat/lon when starting

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bresch 2025-04-01 11:20:29 +02:00 committed by Roman Bapst
parent 1928758fbc
commit e35c1f430c
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
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@ -108,7 +108,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
bool reset = false; bool reset = false;
if (!fused && !ekf.isOtherSourceOfHorizontalPositionAidingThan(ekf.control_status_flags().aux_gpos)) { 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); ekf.resetAidSourceStatusZeroInnovation(aid_src);
reset = true; reset = true;
} }