From 3f9e48951b87b20ec29c7f2cebc0d3af3035d75f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 2 Jul 2019 16:17:46 +1000 Subject: [PATCH] AP_NavEKF3: set terrainState to zero on height datum reset --- libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp index 64ae8fad5d..bc41c43388 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp @@ -227,8 +227,10 @@ bool NavEKF3_core::resetHeightDatum(void) } } - // adjust the terrain state - terrainState += oldHgt; + // set the terrain state to zero (on ground). The adjustment for + // frame height will get added in the later constraints + terrainState = 0; + return true; }