Centralize pos and vel reset (use request flag)

[garlinplus]

In ecl ekf code, there are so many calling of reset position and vel. But in reset position and reset velocity function,the related control status flag in them.Their code as followed: void Ekf::resetHorizontalPosition() { // let the next odometry update know that the previous value of states cannot be used to calculate the change in position _hpos_prev_available = false;

if (_control_status.flags.gps) {
	// this reset is only called if we have new gps data at the fusion time horizon
	resetHorizontalPositionToGps();

} else if (_control_status.flags.ev_pos) {
	// this reset is only called if we have new ev data at the fusion time horizon
	resetHorizontalPositionToVision();

} else if (_control_status.flags.opt_flow) {
	ECL_INFO_TIMESTAMPED("reset position to last known position");

	if (!_control_status.flags.in_air) {
		// we are likely starting OF for the first time so reset the horizontal position
		resetHorizontalPositionTo(Vector2f(0.f, 0.f));
	} else {
		resetHorizontalPositionTo(_last_known_posNE);
	}

	// estimate is relative to initial position in this mode, so we start with zero error.
	P.uncorrelateCovarianceSetVariance<2>(7, 0.0f);

} else {
	ECL_INFO_TIMESTAMPED("reset position to last known position");
	// Used when falling back to non-aiding mode of operation
	resetHorizontalPositionTo(_last_known_posNE);
	P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
}

}

void Ekf::resetVelocity() { if (_control_status.flags.gps && isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) { // this reset is only called if we have new gps data at the fusion time horizon resetVelocityToGps();

} else if (_control_status.flags.opt_flow) {
	resetHorizontalVelocityToOpticalFlow();

} else if (_control_status.flags.ev_vel) {
	resetVelocityToVision();

} else {
	resetHorizontalVelocityToZero();
}

}

Should we delete all positon and velocity reset in sensor fusion control function.And we define one position reset request and one velocity reset request flag variable.When the corresponding request is set,we call resetVelocity or resetHorizontalPosition function.

[priseborough]

Yes, this is a preferred method. We have started moving to a centralised reset request flag for some observation types such as yaw, but not yet for velocity and position.