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AP_NavEKF3: set filter status dead_reckoning bit

This commit is contained in:
Randy Mackay 2022-05-11 11:09:15 +09:00
parent 6553b9145a
commit eafb118b47
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -718,6 +718,7 @@ void NavEKF3_core::updateFilterStatus(void)
(imuSampleTime_ms - lastTasFailTime_ms) < 1000 && (imuSampleTime_ms - lastTasFailTime_ms) < 1000 &&
(imuSampleTime_ms - lastTasPassTime_ms) > 3000; (imuSampleTime_ms - lastTasPassTime_ms) > 3000;
filterStatus.flags.initalized = filterStatus.flags.initalized || healthy(); filterStatus.flags.initalized = filterStatus.flags.initalized || healthy();
filterStatus.flags.dead_reckoning = (PV_AidingMode != AID_NONE) && doingWindRelNav && !((doingFlowNav && gndOffsetValid) || doingNormalGpsNav || doingBodyVelNav);
} }
void NavEKF3_core::runYawEstimatorPrediction() void NavEKF3_core::runYawEstimatorPrediction()