From e6e6a781c169f6b179145c6841f4a9e3fa0c480f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 5 Jan 2015 20:41:01 +0900
Subject: [PATCH] AP_NavEKF: init filter status bits to zero

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 3ed3be8b0..6a6c9691c 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4485,6 +4485,9 @@ return filter function status as a bitmasked integer
 */
 void  NavEKF::getFilterStatus(nav_filter_status &status) const
 {
+    // init return value
+    status.value = 0;
+
     bool doingFlowNav = (PV_AidingMode == AID_RELATIVE) && flowDataValid;
     bool doingWindRelNav = !tasTimeout && assume_zero_sideslip();
     bool doingNormalGpsNav = !posTimeout && (PV_AidingMode == AID_ABSOLUTE);
@@ -4494,7 +4497,7 @@ void  NavEKF::getFilterStatus(nav_filter_status &status) const
     bool optFlowNavPossible = flowDataValid && (_fusionModeGPS == 3);
     bool gpsNavPossible = !gpsNotAvailable && (_fusionModeGPS <= 2);
 
-    // add code to set bits using private filter data here
+    // set individual flags
     status.flags.attitude = !state.quat.is_nan();   // attitude valid (we need a better check)
     status.flags.horiz_vel = someHorizRefData && notDeadReckoning;      // horizontal velocity estimate valid
     status.flags.vert_vel = someVertRefData;        // vertical velocity estimate valid
-- 
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