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APM_Control: do not fetch unused position reset delta

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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Peter Barker
2026-07-21 17:25:44 +10:00
committed by Peter Barker
co-authored by Claude Fable 5
parent 20e0978033
commit 5fa64dcd9b
1 changed files with 3 additions and 5 deletions
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libraries/APM_Control/AR_PosControl.cpp
+3 -5
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@@ -406,16 +406,14 @@ void AR_PosControl::write_log()
/// initialise ekf xy position reset check
void AR_PosControl::init_ekf_xy_reset()
{
Vector2f pos_shift;
_ekf_xy_reset_count = AP::ahrs().get_position_NE_reset_count(pos_shift);
_ekf_xy_reset_count = AP::ahrs().get_position_NE_reset_count();
}
/// handle_ekf_xy_reset - check for ekf position reset and adjust loiter or brake target position
void AR_PosControl::handle_ekf_xy_reset()
{
// check for position shift
Vector2f pos_shift;
const uint16_t reset_count = AP::ahrs().get_position_NE_reset_count(pos_shift);
// check for position reset
const uint16_t reset_count = AP::ahrs().get_position_NE_reset_count();
if (reset_count != _ekf_xy_reset_count) {
Vector2p pos_ne_m;
if (!AP::ahrs().get_relative_position_NE_origin(pos_ne_m)) {