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AP_NavEKF: Predict filter solution status

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priseborough 2015-01-05 17:13:58 +11:00 committed by Andrew Tridgell
parent 3896dadc77
commit ffd9f7a4ed
1 changed files with 2 additions and 2 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4503,8 +4503,8 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
status.flags.vert_pos = !hgtTimeout; // vertical position estimate valid
status.flags.terrain_alt = gndOffsetValid; // terrain height estimate valid
status.flags.const_pos_mode = constPosMode; // constant position mode
status.flags.pred_horiz_pos_rel = status.flags.horiz_pos_rel;
status.flags.pred_horiz_pos_abs = status.flags.horiz_pos_abs;
status.flags.pred_horiz_pos_rel = optFlowNavPossible || gpsNavPossible; // we should be able to estimate a relative position when we enter flight mode
status.flags.pred_horiz_pos_abs = gpsNavPossible; // we should be able to estimate an absolute position when we enter flight mode
}
// Check arm status and perform required checks and mode changes