From e2d91535d0510496a9a7244f52a09bf35eb92534 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 27 Jun 2017 11:27:21 +1000 Subject: [PATCH] AP_AHRS: fill in have_pos_abs --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 15ac030481..ea1fce25f3 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -202,6 +202,7 @@ void AP_AHRS_NavEKF::update_EKF2(void) EKF2.getFilterStatus(-1,filt_state); AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS. AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching; + AP_Notify::flags.have_pos_abs = filt_state.flags.horiz_pos_abs; } } } @@ -274,6 +275,7 @@ void AP_AHRS_NavEKF::update_EKF3(void) EKF3.getFilterStatus(-1,filt_state); AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS. AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching; + AP_Notify::flags.have_pos_abs = filt_state.flags.horiz_pos_abs; } } }