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AP_AHRS: allow EKF_TYPE==10 to send a good status report

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Some GUIs, including DroneKit, will consider GPS locations invalid if the EKF status is not good
This commit is contained in:
Tom Pittenger 2019-07-02 13:38:52 -07:00 committed by Andrew Tridgell
parent e58eae3c48
commit bf11746da5
1 changed files with 15 additions and 2 deletions
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17
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1535,8 +1535,21 @@ void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan) const
#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, 0);
{
// send status report with everything looking good
const uint16_t flags =
EKF_ATTITUDE | /* Set if EKF's attitude estimate is good. | */
EKF_VELOCITY_HORIZ | /* Set if EKF's horizontal velocity estimate is good. | */
EKF_VELOCITY_VERT | /* Set if EKF's vertical velocity estimate is good. | */
EKF_POS_HORIZ_REL | /* Set if EKF's horizontal position (relative) estimate is good. | */
EKF_POS_HORIZ_ABS | /* Set if EKF's horizontal position (absolute) estimate is good. | */
EKF_POS_VERT_ABS | /* Set if EKF's vertical position (absolute) estimate is good. | */
EKF_POS_VERT_AGL | /* Set if EKF's vertical position (above ground) estimate is good. | */
//EKF_CONST_POS_MODE | /* EKF is in constant position mode and does not know it's absolute or relative position. | */
EKF_PRED_POS_HORIZ_REL | /* Set if EKF's predicted horizontal position (relative) estimate is good. | */
EKF_PRED_POS_HORIZ_ABS; /* Set if EKF's predicted horizontal position (absolute) estimate is good. | */
mavlink_msg_ekf_status_report_send(chan, flags, 0, 0, 0, 0, 0, 0);
}
break;
#endif