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AP_NavEKF: Update solution status reporting

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This patch makes the reporting of an absolute position solution less abbiguaous and ensures that relative position is always true if absolute position is true
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priseborough 2014-12-24 09:15:11 +11:00 committed by Randy Mackay
parent ee75f26edb
commit b21f9daa90
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4562,8 +4562,8 @@ void NavEKF::getFilterStatus(uint8_t &status) const
status = (!state.quat.is_nan()<<0 | // we can implement a better way to detect invalid attitude, but it is tricky to do reliably
!(velTimeout && tasTimeout)<<1 |
!((velTimeout && hgtTimeout) || (hgtTimeout && _fusionModeGPS > 0))<<2 |
((gpsInhibitMode == 2 && flowDataValid) || (!tasTimeout && assume_zero_sideslip()))<<3 |
!(posTimeout || gpsInhibitMode == 1)<<4 |
((gpsInhibitMode == 2 && flowDataValid) || (!tasTimeout && assume_zero_sideslip()) || (!posTimeout && gpsInhibitMode == 0))<<3 |
(!posTimeout && gpsInhibitMode == 0)<<4 |
!hgtTimeout<<5 |
!inhibitGndState<<6 |
posHoldMode<<7);