From f35efc56e084bc9ab827dc16f68430d58b50401e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 2 Jan 2015 17:06:22 +0900
Subject: [PATCH] InertialNav_EKF: get_filter_status replaces position_ok

---
 .../AP_InertialNav/AP_InertialNav_NavEKF.cpp  | 25 ++++++-------------
 .../AP_InertialNav/AP_InertialNav_NavEKF.h    | 13 +++-------
 2 files changed, 11 insertions(+), 27 deletions(-)

diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
index 585c82f873..b51ffc28bb 100644
--- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
@@ -39,15 +39,16 @@ void AP_InertialNav_NavEKF::update(float dt)
 }
 
 /**
- * position_ok - true if inertial based altitude and position can be trusted
- * @return
+ * get_filter_status : returns filter status as a series of flags
  */
-bool AP_InertialNav_NavEKF::position_ok() const
+nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
 {
-    if (_ahrs.have_inertial_nav() && _haveabspos) {
-        return true;
+    if (_ahrs.have_inertial_nav()) {
+        nav_filter_status ret;
+        _ahrs_ekf.get_NavEKF().getFilterStatus(ret);
+        return ret;
     }
-    return AP_InertialNav::position_ok();
+    return AP_InertialNav::get_filter_status();
 }
 
 /**
@@ -143,18 +144,6 @@ float AP_InertialNav_NavEKF::get_velocity_xy() const
     return AP_InertialNav::get_velocity_xy();
 }
 
-/**
- * altitude_ok - returns true if inertial based altitude and position can be trusted
- * @return
- */
-bool AP_InertialNav_NavEKF::altitude_ok() const
-{
-    if (_ahrs.have_inertial_nav() && _haveabspos) {
-        return true;
-    }
-    return AP_InertialNav::altitude_ok();
-}
-
 /**
  * get_altitude - get latest altitude estimate in cm
  * @return
diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
index 4f2170434b..b77d29412b 100644
--- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
+++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
@@ -10,6 +10,8 @@
 #ifndef __AP_INERTIALNAV_NAVEKF_H__
 #define __AP_INERTIALNAV_NAVEKF_H__
 
+#include <AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters
+
 class AP_InertialNav_NavEKF : public AP_InertialNav
 {
 public:
@@ -32,10 +34,9 @@ public:
     void        update(float dt);
 
     /**
-     * position_ok - true if inertial based altitude and position can be trusted
-     * @return
+     * get_filter_status - returns filter status as a series of flags
      */
-    bool        position_ok() const;
+    nav_filter_status get_filter_status() const;
 
     /**
      * get_position - returns the current position relative to the home location in cm.
@@ -88,12 +89,6 @@ public:
      */
     float        get_velocity_xy() const;
 
-    /**
-     * altitude_ok - returns true if inertial based altitude and position can be trusted
-     * @return
-     */
-    bool        altitude_ok() const;
-
     /**
      * get_altitude - get latest altitude estimate in cm
      * @return