fakePosFusion: reset _last_known_posNE to current state when starting (…

…#943) * [AUTO COMMIT] update change indication
PX4 · Dec 15, 2020 · 5ccb8b4 · 5ccb8b4
1 parent 9d22f14
commit 5ccb8b4
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Showing 3 changed files with 729 additions and 728 deletions.
diff --git a/EKF/control.cpp b/EKF/control.cpp
@@ -1263,6 +1263,7 @@ void Ekf::controlFakePosFusion()
 
 			// Reset position and velocity states if we re-commence this aiding method
 			if (isTimedOut(_time_last_fake_pos, (uint64_t)4e5)) {
+				_last_known_posNE = _state.pos.xy();
 				resetHorizontalPosition();
 				resetVelocity();
 				_fuse_hpos_as_odom = false;