EKF2: fix range height altitude drift on ground #24166
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Awesome thank you! Tested in sim and it solves that issue. Next thing to figure out is why do we lose altitude while moving. Another easy to reproduce thing in sim, if you just roll the vehicle back and forth it will eventually sink to the ground. |
dakejahl
previously approved these changes
Jan 3, 2025
When the height reference datum is ground level (range finder height ref), the terrain state is not updated through fusion and should stay at a constant altitude.
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Could you please make another issue for that and post a log so we don't lose track of it? |
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Solved Problem
replaces #24161
fixes #24160
Terrain was continuously reset using the current altitude estimate because the terrain state is not updated when EKF2_HGT_REF is set to range finder. Since the terrain state is used to update the height through range fusion, the height is not constrained and can freely drift away.
Solution
Do not run the "fake terrain fusion" (i.e.: reset terrain) if the terrain is the height reference is the range finder.
Test coverage
unit test
@dakejahl Could you please try this fix?