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ekf: add logging for rng kinematic consistency check

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bresch
2022-03-21 15:31:43 +01:00
committed by Mathieu Bresciani
parent 8693ad15a7
commit d903613c9c
4 changed files with 5 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -1304,6 +1304,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_rng_fault = _ekf.control_status_flags().rng_fault;
status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning;
status_flags.cs_wind_dead_reckoning = _ekf.control_status_flags().wind_dead_reckoning;
status_flags.cs_rng_kin_consistent = _ekf.control_status_flags().rng_kin_consistent;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;