AP_NavEKF3: To make decisions and flag settings clear

muramura · May 24, 2024 · 65d7c0b · 65d7c0b
1 parent ead48b6
commit 65d7c0b
Showing 1 changed file with 12 additions and 36 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -555,42 +555,18 @@ void NavEKF3_core::send_status_report(GCS_MAVLINK &link) const
 {
     // prepare flags
     uint16_t flags = 0;
-    if (filterStatus.flags.attitude) {
-        flags |= EKF_ATTITUDE;
-    }
-    if (filterStatus.flags.horiz_vel) {
-        flags |= EKF_VELOCITY_HORIZ;
-    }
-    if (filterStatus.flags.vert_vel) {
-        flags |= EKF_VELOCITY_VERT;
-    }
-    if (filterStatus.flags.horiz_pos_rel) {
-        flags |= EKF_POS_HORIZ_REL;
-    }
-    if (filterStatus.flags.horiz_pos_abs) {
-        flags |= EKF_POS_HORIZ_ABS;
-    }
-    if (filterStatus.flags.vert_pos) {
-        flags |= EKF_POS_VERT_ABS;
-    }
-    if (filterStatus.flags.terrain_alt) {
-        flags |= EKF_POS_VERT_AGL;
-    }
-    if (filterStatus.flags.const_pos_mode) {
-        flags |= EKF_CONST_POS_MODE;
-    }
-    if (filterStatus.flags.pred_horiz_pos_rel) {
-        flags |= EKF_PRED_POS_HORIZ_REL;
-    }
-    if (filterStatus.flags.pred_horiz_pos_abs) {
-        flags |= EKF_PRED_POS_HORIZ_ABS;
-    }
-    if (!filterStatus.flags.initalized) {
-        flags |= EKF_UNINITIALIZED;
-    }
-    if (filterStatus.flags.gps_glitching) {
-        flags |= (1<<15);
-    }
+    if (filterStatus.flags.attitude)           flags |= EKF_ATTITUDE;
+    if (filterStatus.flags.horiz_vel)          flags |= EKF_VELOCITY_HORIZ;
+    if (filterStatus.flags.vert_vel)           flags |= EKF_VELOCITY_VERT;
+    if (filterStatus.flags.horiz_pos_rel)      flags |= EKF_POS_HORIZ_REL;
+    if (filterStatus.flags.horiz_pos_abs)      flags |= EKF_POS_HORIZ_ABS;
+    if (filterStatus.flags.vert_pos)           flags |= EKF_POS_VERT_ABS;
+    if (filterStatus.flags.terrain_alt)        flags |= EKF_POS_VERT_AGL;
+    if (filterStatus.flags.const_pos_mode)     flags |= EKF_CONST_POS_MODE;
+    if (filterStatus.flags.pred_horiz_pos_rel) flags |= EKF_PRED_POS_HORIZ_REL;
+    if (filterStatus.flags.pred_horiz_pos_abs) flags |= EKF_PRED_POS_HORIZ_ABS;
+    if (!filterStatus.flags.initalized)        flags |= EKF_UNINITIALIZED;
+    if (filterStatus.flags.gps_glitching)      flags |= (1<<15);
 
     // get variances
     float velVar = 0, posVar = 0, hgtVar = 0, tasVar = 0;