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AP_ExternalAHRS: Correct the judgment

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muramura 2024-09-15 10:36:23 +09:00 committed by Peter Barker
parent 167dd7f447
commit b1b4ac8d58
1 changed files with 1 additions and 1 deletions
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libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
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@ -1103,7 +1103,7 @@ void AP_ExternalAHRS_InertialLabs::get_filter_status(nav_filter_status &status)
status.flags.pred_horiz_pos_rel = status.flags.horiz_pos_abs;
status.flags.pred_horiz_pos_abs = status.flags.horiz_pos_abs;
status.flags.using_gps = (now - last_gps_ms < dt_limit_gps) &&
(state2.unit_status & (ILABS_UNIT_STATUS_GNSS_FAIL|ILABS_UNIT_STATUS2_GNSS_FUSION_OFF)) == 0;
((state2.unit_status & ILABS_UNIT_STATUS_GNSS_FAIL) | (state2.unit_status2 & ILABS_UNIT_STATUS2_GNSS_FUSION_OFF)) == 0;
status.flags.gps_quality_good = (now - last_gps_ms < dt_limit_gps) &&
(state2.unit_status2 & ILABS_UNIT_STATUS2_GNSS_POS_VALID) != 0 &&
(state2.unit_status & ILABS_UNIT_STATUS_GNSS_FAIL) == 0;