EKF: Enable control mode transitions to be detected

Save the previous value of the filter control modes
2026-05-12 12:27:35 +08:00 · 2016-02-16 10:40:05 +11:00
parent 402206a305
commit d9bf4e9870
2 changed files with 6 additions and 0 deletions
@@ -151,6 +151,8 @@ void Ekf::controlFusionModes()
 		_control_status.flags.wind = false;
 	}

+	// Store the status to enable change detection
+	_control_status_prev.value = _control_status.value;
 }

 void Ekf::calculateVehicleStatus()