Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-03-23 18:13:49 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

Height fusion now only rotates ev samples if they are FRD

Browse Source
This commit is contained in:
Daniel Hadlow
2026-03-06 12:00:39 +13:00
committed by Mathieu Bresciani
parent 377bec1e85
commit 454b690c4b
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
View File

@@ -57,7 +57,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
Matrix3f pos_cov{matrix::diag(ev_sample.position_var)};
// rotate EV to the EKF reference frame unless we're operating entirely in vision frame
if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos)) {
if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos) && ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_FRD) {
const Quatf q_error(_ev_q_error_filt.getState());