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fix(ekf2): hard reset external position estimate while position aiding active #27856

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Merged
haumarco merged 1 commit into from
Jul 16, 2026
Merged

fix(ekf2): hard reset external position estimate while position aiding active #27856

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6 changes: 3 additions & 3 deletions src/modules/ekf2/EKF/ekf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -336,11 +336,11 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl

const bool innov_rejected = (test_ratio > 1.f);

if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected) {
if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected
|| isHorizontalPositionAidingActive()) {
// When on ground or accuracy chosen to be very low, we hard reset position
// this allows the user to still send hard resets at any time
// Also reset when another position source is active as it it would otherwise have almost no
// visible effect to the position estimate.
// Also hard reset when a position aiding source is active
ECL_INFO("reset position to external observation");
_information_events.flags.reset_pos_to_ext_obs = true;

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