Allow set of vehicle origin even when using GPS #25110
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I agree it should be OK to set the origin now. This check was added back before we had the moving internal origin. |
tridge
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Sep 27, 2023
peterbarker
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not being able to set origin when using GPS is annoying. We've adjusted the way we do positions in the EKF (local offsets) and generally (Vector3p), so even if the suer sets an origin a long way away it shouldn't hurt.
rmackay9
previously requested changes
May 17, 2024
peterbarker
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rmackay9
dismissed stale reviews from tridge and themself
Randy's requests addressed
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Hi @peterbarker, Somehow the change to AP_NavEKF3_Control.cpp has gone missing or perhaps I misread the the change in its earlier form. In any case, maybe you could pull that removal in as well from my PR? #27081 |
Done |
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I've pulled your changes into this PR #27081 so I will go ahead and close this one if that's OK. |
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not being able to set origin when using GPS is annoying. We've adjusted the way we do positions in the EKF (local offsets) and generally (Vector3p), so even if the suer sets an origin a long way away it shouldn't hurt.
Some interesting results here:
vs the same test run without the offset:
