mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
be2bb4a479
* FlightTask: Fix ekf2 reset race condition during task switch During a loss of GPS data when using GPS as primary height source, the height is reset to baro and the local position gets invalid at the same time. This triggers a switch to altitude flight task and a setpoint reset. This combination of events had the effect to ignore the height reset, the large sudden height error could create an abrupt change of altitude or even a crash. The ekf2 reset is now done at the beginning of each update call.