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Adding EKF align flag #65

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Adding EKF align flag #65

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3 changes: 3 additions & 0 deletions msg/SbgEkfStatus.msg
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Expand Up @@ -53,3 +53,6 @@ bool gps2_hdt_used

# True if Odometer is used in solution (data used and valid since 3s)
bool odo_used

# True if solution ekf is aligned (data used and valid since 4 mns)
bool ekf_aligned
1 change: 1 addition & 0 deletions src/message_wrapper.cpp
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Expand Up @@ -114,6 +114,7 @@ const sbg_driver::SbgEkfStatus MessageWrapper::createEkfStatusMessage(uint32_t e
ekf_status_message.gps2_hdt_used = (ekf_status & SBG_ECOM_SOL_GPS2_HDT_USED) != 0;

ekf_status_message.odo_used = (ekf_status & SBG_ECOM_SOL_ODO_USED) != 0;
ekf_status_message.ekf_aligned = (ekf_status & SBG_ECOM_SOL_ALIGN_VALID) != 0;

return ekf_status_message;
}
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