Mirrors_Framework/ardupilot
1
0 Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-10-26 22:56:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: Fix misleading pre-flight status reporting

Browse Source
This commit is contained in:
Paul Riseborough authored and Andrew Tridgell committed 2016-05-21 15:13:53 +10:00
1 parent 38d61f5281
commit 16cb7078cd
1 file changed
+2 -2
Download Patch File Download Diff File Expand all files Collapse all files
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+2 -2
View File
@@ -478,8 +478,8 @@ void NavEKF2_core::getFilterStatus(nav_filter_status &status) const
status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
status.flags.takeoff = expectGndEffectTakeoff; // The EKF has been told to expect takeoff and is in a ground effect mitigation mode
status.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
status.flags.using_gps = (imuSampleTime_ms - lastPosPassTime_ms) < 4000;
status.flags.gps_glitching = !gpsAccuracyGood; // The GPS is glitching
status.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE);
status.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE); // The GPS is glitching
}
/*