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ekf2: move synthetic_position flag to control_status.flags.fake_pos

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bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent 86f7e15f7a
commit aa716936bf
8 changed files with 48 additions and 46 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -2
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@@ -272,7 +272,7 @@ public:
// return true if the local position estimate is valid
bool local_position_is_valid() const
{
return (!_deadreckon_time_exceeded && !_using_synthetic_position);
return (!_deadreckon_time_exceeded && !_control_status.flags.fake_pos);
}
bool isTerrainEstimateValid() const { return _hagl_valid; };
@@ -465,7 +465,6 @@ private:
uint64_t _time_prev_gps_us{0}; ///< time stamp of previous GPS data retrieved from the buffer (uSec)
uint64_t _time_last_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
bool _using_synthetic_position{false}; ///< true if we are using a synthetic position to constrain drift
uint64_t _time_last_hor_pos_fuse{0}; ///< time the last fusion of horizontal position measurements was performed (uSec)
uint64_t _time_last_hgt_fuse{0}; ///< time the last fusion of vertical position measurements was performed (uSec)