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AP_NavEKF: added using_gps status bit

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This commit is contained in:
Andrew Tridgell 2015-05-15 18:48:05 +10:00
parent 260e7679dd
commit 6154db5cf8
2 changed files with 2 additions and 0 deletions
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1
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4823,6 +4823,7 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
status.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
status.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
status.flags.using_gps = (imuSampleTime_ms - lastPosPassTime) < 2000;
}
// send an EKF_STATUS message to GCS

1
libraries/AP_NavEKF/AP_Nav_Common.h
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@ -34,6 +34,7 @@ union nav_filter_status {
uint16_t takeoff_detected : 1; // 10 - true if optical flow takeoff has been detected
uint16_t takeoff : 1; // 11 - true if filter is compensating for baro errors during takeoff
uint16_t touchdown : 1; // 12 - true if filter is compensating for baro errors during touchdown
uint16_t using_gps : 1; // 13 - true if we are using GPS position
} flags;
uint16_t value;
};