From 1ddf38869a3700e860e5be018c24f20a581cfb0a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 26 Jul 2017 17:31:42 +0900
Subject: [PATCH] AP_AHRS: set AP_Notify gps_glitching flag

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 3ccf57f0f0..93bec9830c 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -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;
         }
     }
 }