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ekf2: baro only reset vz as a last resort

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This commit is contained in:
Daniel Agar
2024-07-10 13:24:35 -04:00
parent 40349fa3dc
commit 80ee622f77
1 changed files with 4 additions and 2 deletions
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src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
+4 -2
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@@ -134,8 +134,10 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
// reset vertical velocity
resetVerticalVelocityToZero();
// reset vertical velocity if no valid sources available
if (!isVerticalVelocityAidingActive()) {
resetVerticalVelocityToZero();
}
aid_src.time_last_fuse = imu_sample.time_us;