EKF2: origin reset cleanup #23590
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EKF2: origin reset cleanup #23590
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dagar
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Aug 21, 2024
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@bresch I thought the EKF2 origin was effectively the position of the IMU on boot. Does this change anything for docs/user-facing behaviour? |
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@hamishwillee By default it is, yes, but the user can change it by sending a mavlink command. |
bresch
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Aug 23, 2024
bresch
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Aug 23, 2024
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Allow partial resets (only lat/lon or only altitude)
This is not only needed when GNSS is available but also for other global sources of position (e.g.: aux global pos and manual pos updates)
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We now have 2 options to set the origin of the local frame: