From 3d31773fb465c15f2ea464adcc975ea5e7ad8b50 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 14 Jul 2018 10:10:10 +1000 Subject: [PATCH] AP_NavEKF2: fill in gps_quality_good flag --- libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp index 818e0dbb32..e1a68c6418 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp @@ -521,6 +521,7 @@ void NavEKF2_core::updateFilterStatus(void) filterStatus.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE); filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && !extNavUsedForPos; // GPS glitching is affecting navigation accuracy + filterStatus.flags.gps_quality_good = gpsGoodToAlign; } #endif // HAL_CPU_CLASS