AP_NavEKF3: pos and vel resets default to user defined source #28693
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rmackay9
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priseborough
approved these changes
Nov 23, 2024
|
TXS @rmackay9 |
peterbarker
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Nov 26, 2024
| @@ -73,6 +93,26 @@ void NavEKF3_core::ResetVelocity(resetDataSource velResetSource) | |||
| // resets position states to last GPS measurement or to zero if in constant position mode | |||
| void NavEKF3_core::ResetPosition(resetDataSource posResetSource) | |||
| { | |||
| // if reset source is not specified thenn use the user defined position source | |||
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| // if reset source is not specified thenn use the user defined position source | |
| // if reset source is not specified then use the user-defined position source |
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thanks, I'll try to remember to fix this on my next pass through the code
tridge
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Nov 26, 2024
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This resolves issue #27729 by using the user defined position or velocity source (e.g. EK3_SRCx_POSXY, EK3_SRCx_VELXY) whenever the caller does not specify the source.
This solution is a minimal-change solution to the problem. Another possible solution would be to remove ResetVelocity and ResetPosition's xxxResetSoiurce argument completely and instead always just use the user defined source.
This has been lightly tested in SITL to confirm that it resolves the issue. Below are before and after screen shots of SITL testing where the Vicon has been turned 90degrees from reality.
Before we see terrible behaviour (even worse than described in the issue) where the lane switches every 7 seconds and the vehicle resets to the GPS location. This results in the vehicle flying an ever expanding circle around the target at full speed
After we see nearly twitch-less transitions between Optical flow and External Nav. The two vehicles shown are the EKF's estimated position and the actual position and their positions are stable
