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AP_AHRS_NavEKF: add getGpsGlitchStatus

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This commit is contained in:
Jonathan Challinger 2016-01-26 13:28:21 -08:00 committed by Randy Mackay
parent 8ded496f8b
commit 18240107f0
2 changed files with 10 additions and 0 deletions
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8
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1258,6 +1258,14 @@ void AP_AHRS_NavEKF::setTouchdownExpected(bool val)
} }
} }
bool AP_AHRS_NavEKF::getGpsGlitchStatus()
{
nav_filter_status ekf_status;
get_filter_status(ekf_status);
return ekf_status.flags.gps_glitching;
}
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -215,6 +215,8 @@ public:
void setTakeoffExpected(bool val); void setTakeoffExpected(bool val);
void setTouchdownExpected(bool val); void setTouchdownExpected(bool val);
bool getGpsGlitchStatus();
private: private:
enum EKF_TYPE {EKF_TYPE_NONE=0, enum EKF_TYPE {EKF_TYPE_NONE=0,
#if AP_AHRS_WITH_EKF1 #if AP_AHRS_WITH_EKF1