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ekf2: set attitude validity flag using centralized function

This commit is contained in:
bresch 2024-02-20 14:37:18 +01:00 committed by Daniel Agar
parent 51fe4351c6
commit c221da27a7
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/EKF/ekf_helper.cpp
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@ -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);