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[ins] fix ekf2 status flag when using external vision positionning (#3184)

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Gautier Hattenberger
2023-11-25 22:38:34 +01:00
committed by GitHub
parent 68ddea1e3f
commit 8d01b021de
1 changed files with 1 additions and 1 deletions
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sw/airborne/modules/ins/ins_ekf2.cpp
+1 -1
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@@ -418,7 +418,7 @@ static void send_filter_status(struct transport_tx *trans, struct link_device *d
uint8_t mde = 0;
// Check the alignment and if GPS is fused
if (control_mode.flags.tilt_align && control_mode.flags.yaw_align && control_mode.flags.gps) {
if (control_mode.flags.tilt_align && control_mode.flags.yaw_align && (control_mode.flags.gps || control_mode.flags.ev_pos)) {
mde = 3;
} else if (control_mode.flags.tilt_align && control_mode.flags.yaw_align) {
mde = 4;