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AP_NavEKF: init filter status bits to zero

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Randy Mackay 2015-01-05 20:41:01 +09:00 committed by Andrew Tridgell
parent ffd9f7a4ed
commit e6e6a781c1
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4485,6 +4485,9 @@ return filter function status as a bitmasked integer
*/ */
void NavEKF::getFilterStatus(nav_filter_status &status) const void NavEKF::getFilterStatus(nav_filter_status &status) const
{ {
// init return value
status.value = 0;
bool doingFlowNav = (PV_AidingMode == AID_RELATIVE) && flowDataValid; bool doingFlowNav = (PV_AidingMode == AID_RELATIVE) && flowDataValid;
bool doingWindRelNav = !tasTimeout && assume_zero_sideslip(); bool doingWindRelNav = !tasTimeout && assume_zero_sideslip();
bool doingNormalGpsNav = !posTimeout && (PV_AidingMode == AID_ABSOLUTE); bool doingNormalGpsNav = !posTimeout && (PV_AidingMode == AID_ABSOLUTE);
@ -4494,7 +4497,7 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
bool optFlowNavPossible = flowDataValid && (_fusionModeGPS == 3); bool optFlowNavPossible = flowDataValid && (_fusionModeGPS == 3);
bool gpsNavPossible = !gpsNotAvailable && (_fusionModeGPS <= 2); bool gpsNavPossible = !gpsNotAvailable && (_fusionModeGPS <= 2);
// add code to set bits using private filter data here // set individual flags
status.flags.attitude = !state.quat.is_nan(); // attitude valid (we need a better check) status.flags.attitude = !state.quat.is_nan(); // attitude valid (we need a better check)
status.flags.horiz_vel = someHorizRefData && notDeadReckoning; // horizontal velocity estimate valid status.flags.horiz_vel = someHorizRefData && notDeadReckoning; // horizontal velocity estimate valid
status.flags.vert_vel = someVertRefData; // vertical velocity estimate valid status.flags.vert_vel = someVertRefData; // vertical velocity estimate valid