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AP_NavEKF2: fill in gps_quality_good flag

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Andrew Tridgell 2018-07-14 10:10:10 +10:00
parent 103d1aea41
commit 3d31773fb4
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -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.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.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_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && !extNavUsedForPos; // GPS glitching is affecting navigation accuracy
filterStatus.flags.gps_quality_good = gpsGoodToAlign;
} }
#endif // HAL_CPU_CLASS #endif // HAL_CPU_CLASS