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commander: report GNSS yaw fault to user

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bresch
2021-08-02 16:29:54 +02:00
committed by Mathieu Bresciani
parent 44219e9f45
commit 01d0b8800e
9 changed files with 20 additions and 5 deletions
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msg/estimator_status.msg
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@@ -46,6 +46,10 @@ uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect ind
uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from external vision measurements is intended
uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error