AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10

2016-06-19 22:02:25 +10:00 · 2016-06-19 22:02:25 +10:00 · 2db2486b3a
commit 2db2486b3a
parent 2f88c24f49
1 changed files with 7 additions and 0 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -1117,6 +1117,13 @@ void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan)
        return EKF1.send_status_report(chan);
 #endif

+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    case EKF_TYPE_SITL:
+        // send zero status report
+        mavlink_msg_ekf_status_report_send(chan, 0, 0, 0, 0, 0, 0);
+        break;
+#endif
+        
    case EKF_TYPE2:
    default:
        return EKF2.send_status_report(chan);