AP_ExternalAHRS: added option to disable GNSS fusion

tridge · Apr 18, 2024 · 45a97b6 · 45a97b6
1 parent 5b2d291
commit 45a97b6
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -177,6 +177,7 @@ class AP_ExternalAHRS {
     enum class OPTIONS {
         VN_UNCOMP_IMU = 1U << 0,
         AN_ARSP_AID = 1U << 1,
+        GNSS_DISABLE = 1U << 2,
     };
     bool option_is_set(OPTIONS option) const { return (options.get() & int32_t(option)) != 0; }
 

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
@@ -69,7 +69,7 @@ class AP_ExternalAHRS_backend {
       return true if the GNSS is disabled
      */
     bool gnss_is_disabled(void) const {
-        return frontend.gnss_is_disabled;
+        return frontend.gnss_is_disabled || option_is_set(AP_ExternalAHRS::OPTIONS::GNSS_DISABLE);
     }
 
     /*