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Merge pull request #4603 from iNavFlight/de_yg_surface_mode_experimental

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Add accelerometer weight to position estimation
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Konstantin Sharlaimov 2019-05-04 21:26:14 +02:00 • committed by GitHub
commit ff7ca472ca
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7 changed files with 31 additions and 21 deletions
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src/main/navigation/navigation.c
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@ -2687,6 +2687,7 @@ void applyWaypointNavigationAndAltitudeHold(void)
if (posControl.flags.estAltStatus == EST_TRUSTED) navFlags |= (1 << 0);
if (posControl.flags.estAglStatus == EST_TRUSTED) navFlags |= (1 << 1);
if (posControl.flags.estPosStatus == EST_TRUSTED) navFlags |= (1 << 2);
if (posControl.flags.isTerrainFollowEnabled) navFlags |= (1 << 3);
#if defined(NAV_GPS_GLITCH_DETECTION)
if (isGPSGlitchDetected()) navFlags |= (1 << 4);
#endif