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AP_NavEKF2: auto change EK2_GPS_TYPE for NMEA

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this fixes a problem where users of NMEA GPS receivers could not arm
with default EK2 parameters.
This commit is contained in:
Andrew Tridgell 2016-05-05 19:46:33 +10:00
parent 75c965f512
commit 9c4dd024bf
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@ -8,6 +8,7 @@
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
@ -78,6 +79,13 @@ bool NavEKF2_core::calcGpsGoodToAlign(void)
} else if ((frontend->_fusionModeGPS == 0) && !_ahrs->get_gps().have_vertical_velocity()) {
// If the EKF settings require vertical GPS velocity and the receiver is not outputting it, then fail
gpsVertVelFail = true;
// if we have a 3D fix with no vertical velocity and
// EK2_GPS_TYPE=0 then change it to 1. It means the GPS is not
// capable of giving a vertical velocity
if (_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
frontend->_fusionModeGPS.set(1);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "EK2: Changed EK2_GPS_TYPE to 1");
}
} else {
gpsVertVelFail = false;
}