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ekf2: move synthetic_position flag to control_status.flags.fake_pos

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bresch
2022-09-08 14:41:50 +02:00
committed by Daniel Agar
parent 86f7e15f7a
commit aa716936bf
8 changed files with 48 additions and 46 deletions
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msg/estimator_status.msg
+1 -1
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@@ -16,7 +16,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
uint32 control_mode_flags # Bitmask to indicate EKF logic state
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
msg/estimator_status_flags.msg
+1
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@@ -36,6 +36,7 @@ bool cs_rng_fault # 28 - true when the range finder has been declare
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
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes