AP_NavEKF: Add GPS glitching monitor to EKF status report

3drobotics · Jun 18, 2015 · 905e08d · 905e08d
1 parent ff81588
commit 905e08d
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diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4834,6 +4834,7 @@ void  NavEKF::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.gps_glitching = !gpsAccuracyGood; // The GPS is glitching
 }
 
 // send an EKF_STATUS message to GCS

diff --git a/libraries/AP_NavEKF/AP_Nav_Common.h b/libraries/AP_NavEKF/AP_Nav_Common.h
@@ -34,6 +34,8 @@ union nav_filter_status {
         uint16_t takeoff_detected   : 1; // 10 - true if optical flow takeoff has been detected
         uint16_t takeoff            : 1; // 11 - true if filter is compensating for baro errors during takeoff
         uint16_t touchdown          : 1; // 12 - true if filter is compensating for baro errors during touchdown
+        uint16_t using_gps          : 1; // 13 - true if we are using GPS position
+        uint16_t gps_glitching      : 1; // 14 - true if the the GPS is glitching
     } flags;
     uint16_t value;
 };