Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: fill in have_pos_abs

Browse Source
This commit is contained in:
Andrew Tridgell 2017-06-27 11:27:21 +10:00
parent b622fe143e
commit e2d91535d0
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -202,6 +202,7 @@ void AP_AHRS_NavEKF::update_EKF2(void)
EKF2.getFilterStatus(-1,filt_state); EKF2.getFilterStatus(-1,filt_state);
AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS. AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS.
AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching; AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching;
AP_Notify::flags.have_pos_abs = filt_state.flags.horiz_pos_abs;
} }
} }
} }
@ -274,6 +275,7 @@ void AP_AHRS_NavEKF::update_EKF3(void)
EKF3.getFilterStatus(-1,filt_state); EKF3.getFilterStatus(-1,filt_state);
AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS. AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS.
AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching; AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching;
AP_Notify::flags.have_pos_abs = filt_state.flags.horiz_pos_abs;
} }
} }
} }