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AP_NavEKF: Add static mode to solution status message

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priseborough 2014-12-20 21:53:40 +11:00 committed by Randy Mackay
parent 5c3a56a087
commit 6eb533121c
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4524,7 +4524,7 @@ return filter function status as a bitmasked integer
4 = absolute horizontal position estimate valid
5 = vertical position estimate valid
6 = terrain height estimate valid
7 = unassigned
7 = static mode
*/
void NavEKF::getFilterStatus(uint8_t &status) const
{
@ -4535,7 +4535,8 @@ void NavEKF::getFilterStatus(uint8_t &status) const
((gpsInhibitMode == 2 && flowDataValid) || (!tasTimeout && assume_zero_sideslip()))<<3 |
!posTimeout<<4 |
!hgtTimeout<<5 |
!inhibitGndState<<6);
!inhibitGndState<<6 |
staticMode<<7);
}
#endif // HAL_CPU_CLASS