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AP_NavEKF2: Fix predicted nav reporting

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Predicted nav should never be false if current nav is true
This commit is contained in:
Paul Riseborough 2016-06-08 19:17:59 +10:00 committed by Andrew Tridgell
parent 99f481e098
commit ec5c460584
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -473,8 +473,8 @@ void NavEKF2_core::getFilterStatus(nav_filter_status &status) const
status.flags.vert_pos = !hgtTimeout && filterHealthy && !hgtNotAccurate; // vertical position estimate valid
status.flags.terrain_alt = gndOffsetValid && filterHealthy; // terrain height estimate valid
status.flags.const_pos_mode = (PV_AidingMode == AID_NONE) && filterHealthy; // constant position mode
status.flags.pred_horiz_pos_rel = (optFlowNavPossible || gpsNavPossible) && filterHealthy; // we should be able to estimate a relative position when we enter flight mode
status.flags.pred_horiz_pos_abs = gpsNavPossible && filterHealthy; // we should be able to estimate an absolute position when we enter flight mode
status.flags.pred_horiz_pos_rel = ((optFlowNavPossible || gpsNavPossible) && filterHealthy) || status.flags.horiz_pos_rel; // we should be able to estimate a relative position when we enter flight mode
status.flags.pred_horiz_pos_abs = (gpsNavPossible && filterHealthy) || status.flags.horiz_pos_abs; // we should be able to estimate an absolute position when we enter flight mode
status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
status.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
status.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode