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Revert "Split get_terrain_vert_pos() into valid and get_vpos"

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Paul Riseborough
2017-07-19 17:33:48 +10:00
committed by GitHub
parent a59cf894d2
commit c887b02f21
5 changed files with 18 additions and 24 deletions
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EKF/ekf_helper.cpp
+2 -1
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@@ -1040,7 +1040,8 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_fault_status.value == 0);
soln_status.flags.pos_vert_abs = soln_status.flags.velocity_vert;
soln_status.flags.pos_vert_agl = get_terrain_valid();
float dummy_var;
soln_status.flags.pos_vert_agl = get_terrain_vert_pos(&dummy_var);
soln_status.flags.const_pos_mode = !soln_status.flags.velocity_horiz;
soln_status.flags.pred_pos_horiz_rel = soln_status.flags.pos_horiz_rel;
soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_vert_abs;