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* EKF2: guard EV position bias updates on active fusion Horizontal position resets were updating the external vision position bias estimator even when EV position fusion was not active. This is the same bug pattern as #27094. In resetAltitudeTo(), the height bias estimators are only shifted when the corresponding height source is currently being fused, for example _ev_hgt_b_est is updated only when _control_status.flags.ev_hgt is true. That guard prevents an inactive EV height bias estimator from being modified by an EKF state reset. The horizontal reset paths did not have the equivalent guard. Both resetHorizontalPositionTo() and resetLatLonTo() unconditionally applied delta_horz_pos to _ev_pos_b_est. However, controlEvPosFusion() treats _control_status.flags.ev_pos as the active EV position fusion state, and the position observation is later computed as: measurement - _ev_pos_b_est.getBias() This means a horizontal position reset from another source could shift the EV position bias estimator while EV position fusion was inactive. When EV position fusion later resumed, the stale shifted bias could be used in the EV observation path and produce incorrect innovations. Only update _ev_pos_b_est during horizontal resets when EV position fusion is currently active, matching the guarded resetAltitudeTo() behavior fixed by * Update src/modules/ekf2/EKF/position_fusion.cpp Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>