AP_NavEKF: send gps_glitching in bit 15 of EKF_STATUS_REPORT.flags

3drobotics · Jun 26, 2015 · 7809736 · 7809736
1 parent b6eb12c
commit 7809736
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4860,6 +4860,7 @@ void NavEKF::send_status_report(mavlink_channel_t chan)
     if (filt_state.flags.const_pos_mode) { flags |= EKF_CONST_POS_MODE; }
     if (filt_state.flags.pred_horiz_pos_rel) { flags |= EKF_PRED_POS_HORIZ_REL; }
     if (filt_state.flags.pred_horiz_pos_abs) { flags |= EKF_PRED_POS_HORIZ_ABS; }
+    if (filt_state.flags.gps_glitching) { flags |= (1<<15); }
 
     // get variances
     float velVar, posVar, hgtVar, tasVar;