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AP_AHRS: extend ekf fault status reporting coverage

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This commit is contained in:
Paul Riseborough 2016-05-10 16:05:50 +10:00 committed by Andrew Tridgell
parent d59d8cc6e3
commit 597ec61673
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -739,7 +739,7 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
return EKF_TYPE_NONE;
}
if (always_use_EKF()) {
uint8_t ekf_faults;
uint16_t ekf_faults;
EKF1.getFilterFaults(ekf_faults);
if (ekf_faults == 0) {
ret = EKF_TYPE1;
@ -757,7 +757,7 @@ AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
return EKF_TYPE_NONE;
}
if (always_use_EKF()) {
uint8_t ekf2_faults;
uint16_t ekf2_faults;
EKF2.getFilterFaults(-1,ekf2_faults);
if (ekf2_faults == 0) {
ret = EKF_TYPE2;