mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter BarkerandClaude Fable 5
8fa8d42128
The NE and D position reset deltas were consumed by nothing: every caller re-anchors its targets against the current estimate rather than shifting by the reported delta. Reset events are now conveyed by getPosNorthEastResetCount/getPosDownResetCount, so the reset timestamps and the frontend's delta-accumulation bookkeeping go too. The velocity reset export (getLastVelNorthEastReset, velResetNE) had no callers at all: the output history is set directly to the new velocity state rather than shifted, so the delta fed nothing. posResetNE and posResetD remain: they shift the output observer history in some reset paths, and posResetNE is logged in NKF4. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>