EKF: update vertical position and velocity reset capture

Use reset event struct members instead of separate variables

EKF/ekf.cpp

@@ -107,10 +107,6 @@ Ekf::Ekf():
 	_gps_hgt_faulty(false),
 	_rng_hgt_faulty(false),
 	_baro_hgt_offset(0.0f),
-	_vert_pos_reset_delta(0.0f),
-	_time_vert_pos_reset(0),
-	_vert_vel_reset_delta(0.0f),
-	_time_vert_vel_reset(0),
 	_time_bad_vert_accel(0)
 {
 	_state = {};

EKF/ekf.h

@@ -128,7 +128,7 @@ public:
 	void get_gps_check_status(uint16_t *_gps_check_fail_status);
 
 	// return the amount the local vertical position changed in the last height reset and the time of the reset
-	void get_vert_pos_reset(float *delta, uint64_t *time_us) {*delta = _vert_pos_reset_delta; *time_us = _time_vert_pos_reset;}
+	void get_vert_pos_reset(float *delta, uint64_t *time_us) {*delta = _state_reset_status.posD_change; *time_us = _state_reset_status.posD_time_us;}
 
 private:
 
@@ -235,10 +235,6 @@ private:
 	int _primary_hgt_source;	// priary source of height data set at initialisation
 
 	float _baro_hgt_offset;		// baro height reading at the local NED origin (m)
-	float _vert_pos_reset_delta;	// increase in vertical position state at the last reset(m)
-	uint64_t _time_vert_pos_reset;	// last system time in usec that the vertical position state was reset
-	float _vert_vel_reset_delta;	// increase in vertical position velocity at the last reset(m)
-	uint64_t _time_vert_vel_reset;	// last system time in usec that the vertical velocity state was reset
 
 	// imu fault status
 	uint64_t _time_bad_vert_accel;	// last time a bad vertical accel was detected (usec)

EKF/ekf_helper.cpp

@@ -289,18 +289,18 @@ void Ekf::resetHeight()
 
 	// store the reset amount and time to be published
 	if (vert_pos_reset) {
-		_vert_pos_reset_delta = _state.pos(2) - old_vert_pos;
-		_time_vert_pos_reset = _time_last_imu;
+		_state_reset_status.posD_change = _state.pos(2) - old_vert_pos;
+		_state_reset_status.posD_time_us = _imu_sample_delayed.time_us;
 	}
 
 	if (vert_vel_reset) {
-		_vert_vel_reset_delta = _state.vel(2) - old_vert_vel;
-		_time_vert_vel_reset = _time_last_imu;
+		_state_reset_status.velD_change = _state.vel(2) - old_vert_vel;
+		_state_reset_status.velD_time_us = _imu_sample_delayed.time_us;
 	}
 
 	// add the reset amount to the output observer states
-	_output_new.pos(2) += _vert_pos_reset_delta;
-	_output_new.vel(2) += _vert_vel_reset_delta;
+	_output_new.pos(2) += _state_reset_status.posD_change;
+	_output_new.vel(2) += _state_reset_status.velD_change;
 
 	// add the reset amount to the output observer buffered data
 	outputSample output_states;
@@ -309,11 +309,11 @@ void Ekf::resetHeight()
 		output_states = _output_buffer.get_from_index(i);
 
 		if (vert_pos_reset) {
-			output_states.pos(2) += _vert_pos_reset_delta;
+			output_states.pos(2) += _state_reset_status.posD_change;
 		}
 
 		if (vert_vel_reset) {
-			output_states.vel(2) += _vert_vel_reset_delta;
+			output_states.vel(2) += _state_reset_status.velD_change;
 		}
 
 		_output_buffer.push_to_index(i,output_states);