From 5785523a0df4745543a9ac17df017a8205d1a7e1 Mon Sep 17 00:00:00 2001 From: priseborough Date: Mon, 26 Mar 2018 20:17:45 +1100 Subject: [PATCH] AP_NavEKF3: Clarify definition for gps_glitching flag --- libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp index e854f9db6d..a4a57c3817 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp @@ -561,7 +561,7 @@ void NavEKF3_core::updateFilterStatus(void) filterStatus.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode filterStatus.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE); - filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE); // The GPS is glitching + filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE); // GPS glitching is affecting navigation accuracy } #endif // HAL_CPU_CLASS