AP_NavEKF3: Don't reset to stale GPS data#32940
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andyp1per
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Apr 30, 2026
rmackay9
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@priseborough I think we should make the same change a few lines lower for the range beacon and external nav handling shouldn't we?
I've put a commit at the end of this branch that does this, I could push it over your branch if you like
https://github.com/rmackay9/rmackay9-ardupilot/commits/ekf3-reset-stale/
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Thanks @rmackay9 . I've pulled your patch in. |
IamPete1
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These changes look good. Don't we need the same changes in ResetVelocity?
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We decided on the call that we should include the ResetVelocity fix in this PR also.
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I'll make the changes for the similar ResetVelocity method |
This fixes a vulnerability where the last GPS fix, regardless of age, could be be used to reset the EKF position.
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I've added the fix for reset velocity as well, txs!
rishabh-manna
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Jun 8, 2026
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This fixes a vulnerability where the last GPS fix, regardless of age, could be be used to reset the EKF position.
Summary
This fixes a bug found during testing of #31738.
The bug report is here #32868
Classification & Testing (check all that apply and add your own)
Description
This is a one lone change that requires the GPS to be no more than 1 sample old( assuming a nominal 5Hz rate with some allowance for jitter) regardless of reset source setting.