AP_NavEKF3: add initalized flag and change to uint32_t

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -563,5 +563,6 @@ void  NavEKF3_core::updateFilterStatus(void)
     filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE);
     filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_fusionModeGPS != 3); // GPS glitching is affecting navigation accuracy
     filterStatus.flags.gps_quality_good = gpsGoodToAlign;
+    filterStatus.flags.initalized = filterStatus.flags.initalized || healthy();
 }
 

libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp

@@ -140,7 +140,7 @@ void NavEKF3::Log_Write_XKF4(uint8_t _core, uint64_t time_us) const
         offsetEast : (int8_t)(offset.y),
         faults : (uint16_t)(faultStatus),
         timeouts : (uint8_t)(timeoutStatus),
-        solution : (uint16_t)(solutionStatus.value),
+        solution : (uint32_t)(solutionStatus.value),
         gps : (uint16_t)(gpsStatus.value),
         primary : (int8_t)primaryIndex
     };

libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp

@@ -585,6 +585,9 @@ void NavEKF3_core::send_status_report(mavlink_channel_t chan) const
     if (filterStatus.flags.pred_horiz_pos_abs) {
         flags |= EKF_PRED_POS_HORIZ_ABS;
     }
+    if (!filterStatus.flags.initalized) {
+        flags |= EKF_UNINITIALIZED;
+    }
     if (filterStatus.flags.gps_glitching) {
         flags |= (1<<15);
     }