ekf: added methods for setting control height flags

Signed-off-by: Roman <bapstroman@gmail.com>

EKF/ekf.h

@@ -507,6 +507,18 @@ private:
 		return var * var;
 	}
 
+	// set control flags to use baro height
+	void setControlBaroHeight();
+
+	// set control flags to use range height
+	void setControlRangeHeight();
+
+	// set control flags to use GPS height
+	void setControlGPSHeight();
+
+	// set control flags to use external vision height
+	void setControlEVHeight();
+
 	// zero the specified range of rows in the state covariance matrix
 	void zeroRows(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last);
 

EKF/ekf_helper.cpp

@@ -1162,3 +1162,39 @@ void Ekf::initialiseQuatCovariances(Vector3f &rot_vec_var)
 
 	}
 }
+
+void Ekf::setControlBaroHeight()
+{
+	_control_status.flags.baro_hgt = true;
+
+	_control_status.flags.gps_hgt = false;
+	_control_status.flags.rng_hgt = false;
+	_control_status.flags.ev_hgt = false;
+}
+
+void Ekf::setControlRangeHeight()
+{
+	_control_status.flags.rng_hgt = true;
+
+	_control_status.flags.baro_hgt = false;
+	_control_status.flags.gps_hgt = false;
+	_control_status.flags.ev_hgt = false;
+}
+
+void Ekf::setControlGPSHeight()
+{
+	_control_status.flags.gps_hgt = true;
+
+	_control_status.flags.baro_hgt = false;
+	_control_status.flags.rng_hgt = false;
+	_control_status.flags.ev_hgt = false;
+}
+
+void Ekf::setControlEVHeight()
+{
+	_control_status.flags.ev_hgt = true;
+
+	_control_status.flags.baro_hgt = false;
+	_control_status.flags.gps_hgt = false;
+	_control_status.flags.rng_hgt = false;
+}