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AP_AHRS: set AP_Notify gps_glitching flag

This commit is contained in:
Randy Mackay 2017-07-26 17:31:42 +09:00
parent 0d5c98ad45
commit 1ddf38869a
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -195,6 +195,7 @@ void AP_AHRS_NavEKF::update_EKF2(void)
nav_filter_status filt_state;
EKF2.getFilterStatus(-1,filt_state);
AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS.
AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching;
}
}
}
@ -266,6 +267,7 @@ void AP_AHRS_NavEKF::update_EKF3(void)
nav_filter_status filt_state;
EKF3.getFilterStatus(-1,filt_state);
AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS.
AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching;
}
}
}