[WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding #22766
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…ertical position aiding
dagar
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RomanBapst
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Mar 15, 2024
| #if defined(CONFIG_EKF2_GNSS) | ||
| // preserve GPS height bias | ||
| _gps_hgt_b_est.setBias(gps_hgt_bias); | ||
| // adjust existing GPS height bias |
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@dagar I don't quite follow the logic. How come you don't reset the vertical position if the height reference is not GNSS? Since we change the origin altitude, would that not lead to a wrong global altitude?
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