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ekf2: split gnss pos/vel flags

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They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
This commit is contained in:
bresch
2025-03-06 15:43:38 +01:00
committed by Mathieu Bresciani
parent da3a0656d4
commit 2aaa54037c
20 changed files with 200 additions and 132 deletions
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msg/EstimatorStatus.msg
+2 -1
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@@ -20,7 +20,7 @@ uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed
uint64 control_mode_flags # Bitmask to indicate EKF logic state
uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete
uint8 CS_GPS = 2 # 2 - true if GPS measurements are being fused
uint8 CS_GNSS_POS = 2 # 2 - true if GNSS position measurements are being fused
uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused
uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused
uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused
@@ -47,6 +47,7 @@ uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measur
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
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
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
msg/EstimatorStatusFlags.msg
+2 -1
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@@ -6,7 +6,7 @@ uint64 timestamp_sample # the timestamp of the raw data (micro
uint32 control_status_changes # number of filter control status (cs) changes
bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
bool cs_gps # 2 - true if GPS measurement fusion is intended
bool cs_gnss_pos # 2 - true if GNSS position measurement fusion is intended
bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended
@@ -48,6 +48,7 @@ bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terra
bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes