ekf2: resetHeightTo -> resetAltitudeTo

The vertical position state is now an altitude, not just a local height

src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp

@@ -131,7 +131,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
 					_information_events.flags.reset_hgt_to_baro = true;
-					resetHeightTo(_baro_lpf.getState() - bias_est.getBias(), measurement_var);
+					resetAltitudeTo(_baro_lpf.getState() - bias_est.getBias(), measurement_var);
 					bias_est.setBias(-_gpos.altitude() + _baro_lpf.getState());
 
 					// reset vertical velocity if no valid sources available

src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp

@@ -117,7 +117,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 
 					if (_height_sensor_ref == HeightSensor::EV) {
 						_information_events.flags.reset_hgt_to_ev = true;
-						resetHeightTo(-measurement, measurement_var);
+						resetAltitudeTo(-measurement, measurement_var);
 						bias_est.reset();
 
 					} else {
@@ -146,7 +146,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 				// All height sources are failing
 				ECL_WARN("%s fusion reset required, all height sources failing", AID_SRC_NAME);
 				_information_events.flags.reset_hgt_to_ev = true;
-				resetHeightTo(-measurement - bias_est.getBias(), measurement_var);
+				resetAltitudeTo(-measurement - bias_est.getBias(), measurement_var);
 				bias_est.setBias(_gpos.altitude() + measurement);
 
 				aid_src.time_last_fuse = _time_delayed_us;
@@ -170,7 +170,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 			if (_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::EV)) {
 				ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
 				_information_events.flags.reset_hgt_to_ev = true;
-				resetHeightTo(-measurement, measurement_var);
+				resetAltitudeTo(-measurement, measurement_var);
 
 				_height_sensor_ref = HeightSensor::EV;
 				bias_est.reset();

src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp

@@ -110,7 +110,7 @@ void Ekf::resetHeightToLastKnown()
 {
 	_information_events.flags.reset_pos_to_last_known = true;
 	ECL_INFO("reset height to last known (%.3f)", (double)_last_known_gpos.altitude());
-	resetHeightTo(_last_known_gpos.altitude(), sq(_params.pos_noaid_noise));
+	resetAltitudeTo(_last_known_gpos.altitude(), sq(_params.pos_noaid_noise));
 }
 
 void Ekf::stopFakeHgtFusion()

src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp

@@ -105,7 +105,7 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
 					_information_events.flags.reset_hgt_to_gps = true;
-					resetHeightTo(measurement, measurement_var);
+					resetAltitudeTo(measurement, measurement_var);
 					bias_est.setBias(-_gpos.altitude() + measurement);
 
 					aid_src.time_last_fuse = _time_delayed_us;

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -148,7 +148,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_height_sensor_ref = HeightSensor::RANGE;
 
 					_information_events.flags.reset_hgt_to_rng = true;
-					resetHeightTo(aid_src.observation, aid_src.observation_variance);
+					resetAltitudeTo(aid_src.observation, aid_src.observation_variance);
 					_state.terrain = 0.f;
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();
@@ -180,7 +180,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
 					_information_events.flags.reset_hgt_to_rng = true;
-					resetHeightTo(aid_src.observation - _state.terrain);
+					resetAltitudeTo(aid_src.observation - _state.terrain);
 
 					// reset vertical velocity if no valid sources available
 					if (!isVerticalVelocityAidingActive()) {

src/modules/ekf2/EKF/ekf.h

@@ -725,7 +725,7 @@ private:
 
 	bool isHeightResetRequired() const;
 
-	void resetHeightTo(float new_altitude, float new_vert_pos_var = NAN);
+	void resetAltitudeTo(float new_altitude, float new_vert_pos_var = NAN);
 	void updateVerticalPositionResetStatus(const float delta_z);
 
 	void resetVerticalVelocityToZero();

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -137,7 +137,7 @@ bool Ekf::setAltOrigin(const float altitude, const float vpos_var)
 	if (!PX4_ISFINITE(_local_origin_alt) && isLocalVerticalPositionValid()) {
 		const float local_alt_prev = _gpos.altitude();
 		_local_origin_alt = altitude;
-		resetHeightTo(local_alt_prev + _local_origin_alt);
+		resetAltitudeTo(local_alt_prev + _local_origin_alt);
 
 	} else {
 		const float delta_origin_alt = altitude - _local_origin_alt;
@@ -235,7 +235,7 @@ bool Ekf::initialiseAltitudeTo(const float altitude, const float vpos_var)
 		ECL_INFO("Origin alt=%.3f", (double)_local_origin_alt);
 	}
 
-	resetHeightTo(altitude, vpos_var);
+	resetAltitudeTo(altitude, vpos_var);
 
 	return true;
 }

src/modules/ekf2/EKF/position_fusion.cpp

@@ -182,7 +182,7 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_pos,
 	resetHorizontalPositionTo(new_latitude, new_longitude, new_horz_pos_var);
 }
 
-void Ekf::resetHeightTo(const float new_altitude, float new_vert_pos_var)
+void Ekf::resetAltitudeTo(const float new_altitude, float new_vert_pos_var)
 {
 	const float old_altitude = _gpos.altitude();
 	_gpos.setAltitude(new_altitude);