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AP_NavEKF2: adjust for location flags being moved out of union

This commit is contained in:
Peter Barker 2019-01-02 11:07:57 +11:00 committed by Peter Barker
parent 828317860a
commit 9be604e3ce
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -322,8 +322,8 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
if(getPosD(posD) && getOriginLLH(origin)) {
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.alt = origin.alt - posD*100;
loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0;
loc.relative_alt = 0;
loc.terrain_alt = 0;
// there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
@ -354,8 +354,8 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
if ((gps.status() >= AP_GPS::GPS_OK_FIX_3D)) {
const struct Location &gpsloc = gps.location();
loc = gpsloc;
loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0;
loc.relative_alt = 0;
loc.terrain_alt = 0;
}
return false;
}