From c221da27a776c965f5328ef21d4427ec6d0f018d Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 20 Feb 2024 14:37:18 +0100 Subject: [PATCH] ekf2: set attitude validity flag using centralized function --- src/modules/ekf2/EKF/ekf_helper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index b730ef64d7..b9e300f0a2 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -684,7 +684,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const { ekf_solution_status_u soln_status{}; // TODO: Is this accurate enough? - soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0); + soln_status.flags.attitude = attitude_valid(); soln_status.flags.velocity_horiz = (isHorizontalAidingActive() || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0); soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0); soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);