ekf2: yaw estimator add yaw_composite_valid boolean

2026-05-22 14:24:21 +08:00 · 2022-03-25 11:30:32 -04:00
parent a218f4bfaf
commit 3889b79342
3 changed files with 5 additions and 3 deletions
@@ -1384,6 +1384,7 @@ void EKF2::PublishYawEstimatorStatus(const hrt_abstime &timestamp)
 			       yaw_est_test_data.innov_vn, yaw_est_test_data.innov_ve,
 			       yaw_est_test_data.weight)) {

+		yaw_est_test_data.yaw_composite_valid = _ekf.isYawEmergencyEstimateAvailable();
 		yaw_est_test_data.timestamp_sample = _ekf.get_imu_sample_delayed().time_us;
 		yaw_est_test_data.timestamp = _replay_mode ? timestamp : hrt_absolute_time();