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ekf: add range finder "faulty" status

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When delclared faulty, the range finder cannot be used anymore
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bresch
2022-02-07 10:31:28 +01:00
committed by Daniel Agar
parent a3b2550f07
commit 5818974f0f
6 changed files with 8 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -1262,6 +1262,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z;
status_flags.cs_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
status_flags.cs_gps_yaw_fault = _ekf.control_status_flags().gps_yaw_fault;
status_flags.cs_rng_fault = _ekf.control_status_flags().rng_fault;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;