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AP_ExternalAHRS: Compare FIX_TYPE judgment with definition name #23015

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AP_ExternalAHRS: Compare FIX_TYPE judgment with definition name #23015

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6 changes: 3 additions & 3 deletions libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -422,7 +422,7 @@ void AP_ExternalAHRS_LORD::post_filter() const
ned_vel_down: filter_data.ned_velocity_down,
};

if (gps.fix_type >= 3 && !state.have_origin) {
if (gps.fix_type >= GPS_FIX_TYPE_3D_FIX && !state.have_origin) {
WITH_SEMAPHORE(state.sem);
state.origin = Location{int32_t(filter_data.lat),
int32_t(filter_data.lon),
Expand Down Expand Up @@ -465,7 +465,7 @@ bool AP_ExternalAHRS_LORD::pre_arm_check(char *failure_msg, uint8_t failure_msg_
hal.util->snprintf(failure_msg, failure_msg_len, "LORD unhealthy");
return false;
}
if (gnss_data.fix_type < 3) {
if (gnss_data.fix_type < GPS_FIX_TYPE_3D_FIX) {
hal.util->snprintf(failure_msg, failure_msg_len, "LORD no GPS lock");
return false;
}
Expand All @@ -488,7 +488,7 @@ void AP_ExternalAHRS_LORD::get_filter_status(nav_filter_status &status) const
status.flags.vert_vel = 1;
status.flags.vert_pos = 1;

if (gnss_data.fix_type >= 3) {
if (gnss_data.fix_type >= GPS_FIX_TYPE_3D_FIX) {
status.flags.horiz_vel = 1;
status.flags.horiz_pos_rel = 1;
status.flags.horiz_pos_abs = 1;
Expand Down