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ekf2: only report gps failure flags that are enabled

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So that they can be used for reporting errors.
This commit is contained in:
Beat Küng
2018-09-27 16:47:52 +02:00
committed by Daniel Agar
parent 0e1e0b997d
commit 0784725ad3
1 changed files with 3 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+3
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@@ -1446,6 +1446,9 @@ void Ekf2::run()
status.n_states = 24;
_ekf.get_covariances(status.covariances);
_ekf.get_gps_check_status(&status.gps_check_fail_flags);
// only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include
// the GPS Fix bit, which is always checked)
status.gps_check_fail_flags &= ((uint16_t)_params->gps_check_mask << 1) | 1;
status.control_mode_flags = control_status.value;
_ekf.get_filter_fault_status(&status.filter_fault_flags);
_ekf.get_innovation_test_status(&status.innovation_check_flags, &status.mag_test_ratio,