From 8b9838c243ded2225f772e091711ca5122b68621 Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 15 Sep 2024 10:36:23 +0900 Subject: [PATCH] AP_ExternalAHRS: Correct the judgment --- libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp index 751449a8beec7..466568c33ec75 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp +++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp @@ -1103,7 +1103,7 @@ void AP_ExternalAHRS_InertialLabs::get_filter_status(nav_filter_status &status) status.flags.pred_horiz_pos_rel = status.flags.horiz_pos_abs; status.flags.pred_horiz_pos_abs = status.flags.horiz_pos_abs; status.flags.using_gps = (now - last_gps_ms < dt_limit_gps) && - (state2.unit_status & (ILABS_UNIT_STATUS_GNSS_FAIL|ILABS_UNIT_STATUS2_GNSS_FUSION_OFF)) == 0; + ((state2.unit_status & ILABS_UNIT_STATUS_GNSS_FAIL) | (state2.unit_status2 & ILABS_UNIT_STATUS2_GNSS_FUSION_OFF)) == 0; status.flags.gps_quality_good = (now - last_gps_ms < dt_limit_gps) && (state2.unit_status2 & ILABS_UNIT_STATUS2_GNSS_POS_VALID) != 0 && (state2.unit_status & ILABS_UNIT_STATUS_GNSS_FAIL) == 0;