AP_NavEKF2: add initalized flag and change to uint32_t

libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp

@@ -521,5 +521,6 @@ void  NavEKF2_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) && !extNavUsedForPos; // GPS glitching is affecting navigation accuracy
     filterStatus.flags.gps_quality_good = gpsGoodToAlign;
+    filterStatus.flags.initalized = filterStatus.flags.initalized || healthy();
 }
 

libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp

@@ -143,7 +143,7 @@ void NavEKF2::Log_Write_NKF4(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_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -577,6 +577,9 @@ void NavEKF2_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;
+    }
 
     // get variances
     float velVar, posVar, hgtVar, tasVar;