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AP_NavEKF3: correct flag in case of GPS disable

mission-4.1.18
Pierre Kancir 7 years ago committed by Randy Mackay
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1 changed files with 1 additions and 1 deletions
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  1. 2
      libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

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libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -561,7 +561,7 @@ void NavEKF3_core::updateFilterStatus(void)
filterStatus.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode filterStatus.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
filterStatus.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode filterStatus.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE); filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE);
filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE); // GPS glitching is affecting navigation accuracy filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_fusionModeGPS != 3); // GPS glitching is affecting navigation accuracy
} }
#endif // HAL_CPU_CLASS #endif // HAL_CPU_CLASS

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