EKF2: fix false pre-flight failure report

[bresch]

Solved Problem

Filtered innovations and test ratios can be large before the reset and can trigger pre-flight warnings [health_and_arming_checks] Preflight fail: height estimate not stable

Solution

Reset innovation and test ratio filters when resetting a state using a measurement.

[github-actions]

FLASH Analysis

px4_fmu-v5x

    FILE SIZE        VM SIZE    
--------------  -------------- 
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  +0.2%    +918  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%    +559  [ = ]       0    .debug_info
  +0.1%    +559  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%    +360  +0.0%    +360    .text
  +0.2%    +352  +0.2%    +352    src/modules/ekf2/modules__ekf2_unity.cpp
  +0.0%      +8  +0.0%      +8    [section .text]
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  +0.0%     +64  [ = ]       0    [section .debug_ranges]
  +0.0%     +40  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%     +32  [ = ]       0    .symtab
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-0.0%    -145  [ = ]       0    .debug_loc
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  -0.0%    -227  [ = ]       0    [section .debug_loc]
-1.5%    -356  [ = ]       0    [Unmapped]
+0.0% +1.45Ki  +0.0%    +360    TOTAL

px4_fmu-v6x

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%    +918  [ = ]       0    .debug_line
  +0.2%    +918  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%    +559  [ = ]       0    .debug_info
  +0.1%    +559  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%    +352  +0.0%    +352    .text
  +0.2%    +352  +0.2%    +352    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%    +104  [ = ]       0    .debug_ranges
  +0.0%     +64  [ = ]       0    [section .debug_ranges]
  +0.0%     +40  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%     +32  [ = ]       0    .symtab
  +0.2%     +32  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
+0.0%      +8  [ = ]       0    .debug_aranges
-0.0%    -118  [ = ]       0    .debug_loc
  +0.0%    +108  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
  -0.0%    -226  [ = ]       0    [section .debug_loc]
-0.5%    -351  [ = ]       0    [Unmapped]
+0.0% +1.47Ki  +0.0%    +352    TOTAL

Updated: 2024-11-28T13:56:51