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AP_NavEKF3: adjust for location flags being moved out of union

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Peter Barker 2019-01-02 11:08:23 +11:00 committed by Peter Barker
parent 9be604e3ce
commit dd8da7321c
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -320,8 +320,8 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
if(getPosD(posD) && getOriginLLH(origin)) {
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.alt = origin.alt - posD*100;
loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0;
loc.relative_alt = 0;
loc.terrain_alt = 0;
// there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
@ -350,8 +350,8 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
if ((gps.status() >= AP_GPS::GPS_OK_FIX_3D)) {
const struct Location &gpsloc = gps.location();
loc = gpsloc;
loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0;
loc.relative_alt = 0;
loc.terrain_alt = 0;
}
return false;
}