From 8d01b021dea9a7e65f47039f474636f6c26d631b Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Sat, 25 Nov 2023 22:38:34 +0100 Subject: [PATCH] [ins] fix ekf2 status flag when using external vision positionning (#3184) --- sw/airborne/modules/ins/ins_ekf2.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sw/airborne/modules/ins/ins_ekf2.cpp b/sw/airborne/modules/ins/ins_ekf2.cpp index 96e1f32362..52a37c33db 100644 --- a/sw/airborne/modules/ins/ins_ekf2.cpp +++ b/sw/airborne/modules/ins/ins_ekf2.cpp @@ -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;