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EKF: reset position when stopping GPS use and EV is active #626

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merged 1 commit into from
Sep 17, 2019
Merged

EKF: reset position when stopping GPS use and EV is active #626

merged 1 commit into from
Sep 17, 2019

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artifactz
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Fixes PX4/PX4-Autopilot#12558

Test flight log:

Screenshot:
plot2

"Stopping GPS usage" happens at 141 seconds. EKF states reset to EV position. Local position is valid at all times, pos_test_ratio is ok (<1).

@priseborough priseborough self-requested a review September 17, 2019 22:32
@priseborough priseborough merged commit 93eb126 into PX4:master Sep 17, 2019
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@priseborough priseborough priseborough approved these changes

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EKF2 not resetting position state when stopping GPS use and EV is already running
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