From ffd9f7a4ed40afc2d46abbe515bf8f685ff93c3d Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Mon, 5 Jan 2015 17:13:58 +1100
Subject: [PATCH] AP_NavEKF: Predict filter solution status
---
libraries/AP_NavEKF/AP_NavEKF.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 529bed0bf..3ed3be8b0 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4503,8 +4503,8 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
status.flags.vert_pos = !hgtTimeout; // vertical position estimate valid
status.flags.terrain_alt = gndOffsetValid; // terrain height estimate valid
status.flags.const_pos_mode = constPosMode; // constant position mode
- status.flags.pred_horiz_pos_rel = status.flags.horiz_pos_rel;
- status.flags.pred_horiz_pos_abs = status.flags.horiz_pos_abs;
+ status.flags.pred_horiz_pos_rel = optFlowNavPossible || gpsNavPossible; // we should be able to estimate a relative position when we enter flight mode
+ status.flags.pred_horiz_pos_abs = gpsNavPossible; // we should be able to estimate an absolute position when we enter flight mode
}
// Check arm status and perform required checks and mode changes
--
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