vtol: always check for EKF2 resets, not just when QC is checked

Signed-off-by: Silvan Fuhrer <[email protected]>

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -373,6 +373,8 @@ VtolAttitudeControl::Run()
 			_air_density = air_data.rho;
 		}
 
+		_vtol_type->handleEkfResets();
+
 		// check if mc and fw sp were updated
 		const bool mc_att_sp_updated = _mc_virtual_att_sp_sub.update(&_mc_virtual_att_sp);
 		const bool fw_att_sp_updated = _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);

src/modules/vtol_att_control/vtol_type.cpp

@@ -302,12 +302,6 @@ bool VtolType::isFrontTransitionAltitudeLoss()
 {
 	bool result = false;
 
-	// check if there is a reset in the z-direction, and if so, shift the transition start z as well
-	if (_local_pos->z_reset_counter != _altitude_reset_counter) {
-		_local_position_z_start_of_transition += _local_pos->delta_z;
-		_altitude_reset_counter = _local_pos->z_reset_counter;
-	}
-
 	// only run if param set, altitude valid and controlled, and in transition to FW or within 5s of finishing it.
 	if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && _v_control_mode->flag_control_altitude_enabled
 	    && (_common_vtol_mode == mode::TRANSITION_TO_FW || hrt_elapsed_time(&_trans_finished_ts) < 5_s)) {
@@ -318,6 +312,15 @@ bool VtolType::isFrontTransitionAltitudeLoss()
 	return result;
 }
 
+void VtolType::handleEkfResets()
+{
+	// check if there is a reset in the z-direction, and if so, shift the transition start z as well
+	if (_local_pos->z_reset_counter != _altitude_reset_counter) {
+		_local_position_z_start_of_transition += _local_pos->delta_z;
+		_altitude_reset_counter = _local_pos->z_reset_counter;
+	}
+}
+
 bool VtolType::isPitchExceeded()
 {
 	// fixed-wing maximum pitch angle

src/modules/vtol_att_control/vtol_type.h

@@ -270,6 +270,12 @@ class VtolType : public ModuleParams
 	 */
 	void resetTransitionStates();
 
+	/**
+	 * @brief Handle EKF position resets.
+	 *
+	 */
+	void handleEkfResets();
+
 protected:
 	VtolAttitudeControl *_attc;
 	mode _common_vtol_mode;