diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index aad3aa43d..3bb395a87 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -354,6 +354,9 @@ void AttitudePositionEstimatorEKF::vehicle_status_poll() if (vstatus_updated) { orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus); + + //Tell EKF that the vehicle is a fixed wing or multi-rotor + _ekf->setIsFixedWing(!_vstatus.is_rotary_wing); } } |