Jacob Dahl 9b6e7cb800 fix(ekf2): allow optical flow to start when range finder is height reference (#26960) ...

When EKF2_HGT_REF=2 (range sensor) with no GPS, optical flow could
never start. The starting condition required isTerrainEstimateValid()
or isHorizontalAidingActive(), but terrain is never "estimated" when
range is the height reference (ground is the datum, terrain state is
fixed at 0), and there's no horizontal aiding without GPS.

HAGL is directly known from the range measurement in this case, so
optical flow has everything it needs to fuse. Add the range height
reference check to the optical flow starting conditions.

Fixes: https://github.com/PX4/PX4-Autopilot/issues/25248

2026-04-02 15:30:24 -08:00

..

drivers

fix(build): add kconfig support for fortified toolchains

2026-03-31 22:23:50 -08:00

examples

Docs beginner tutorials update (#26639)

2026-03-05 20:18:57 +11:00

include

uorb: compress format definitions

2023-11-08 00:31:26 -05:00

lib

feat(ekf2): add ranging beacon fusion support

2026-04-01 15:01:31 +02:00

modules

fix(ekf2): allow optical flow to start when range finder is height reference (#26960)

2026-04-02 15:30:24 -08:00

systemcmds

refactor(systemcmds/tests): convert params.c to module.yaml

2026-03-19 23:46:16 -08:00

templates/template_module

templates: fix ModuleBase template (#26617)

2026-03-02 13:21:23 -09:00