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ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)

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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-07-15 12:50:51 -04:00
committed by GitHub
parent 9d6c2baa90
commit 1cd7d54170
18 changed files with 144 additions and 146 deletions
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msg/EstimatorStatusFlags.msg
+2 -2
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@@ -26,12 +26,12 @@ bool cs_mag_fault # 18 - true when the magnetometer has been declare
bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
bool cs_gps_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
bool cs_gnss_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
bool cs_gnss_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements