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ekf2_ev: do not reset learned bias 

When ev resets without GNSS currently active, still consider the
position bias that was learned so far (GNSS fusion was maybe used in the
past and a meaningful bias was esimated).
This commit is contained in:
bresch 2023-06-05 16:10:14 +02:00
parent ea8b985a2f
commit 0fe712ba1a
1 changed files with 1 additions and 2 deletions
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3
src/modules/ekf2/EKF/ev_pos_control.cpp
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@ -230,8 +230,7 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
if (!_control_status.flags.gps) {
ECL_INFO("reset to %s", EV_AID_SRC_NAME);
_information_events.flags.reset_pos_to_vision = true;
resetHorizontalPositionTo(measurement, measurement_var);
_ev_pos_b_est.reset();
resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var);
} else {
_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);