From fa47569aa5b0a898f6bcbff3f5efbf181c780860 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 6 Oct 2016 14:54:13 +1100 Subject: [PATCH] msg: Add EKF solution status flags to estimator status message --- msg/estimator_status.msg | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index bdfbfd3cc8..81a5a83d14 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -65,3 +65,16 @@ float32 pos_test_ratio # ratio of the largest horizontal position innovation com float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit +uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use. +# 0 - True if the attitude estimate is good +# 1 - True if the horizontal velocity estimate is good +# 2 - True if the vertical velocity estimate is good +# 3 - True if the horizontal position (relative) estimate is good +# 4 - True if the horizontal position (absolute) estimate is good +# 5 - True if the vertical position (absolute) estimate is good +# 6 - True if the vertical position (above ground) estimate is good +# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) +# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate +# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate +# 10 - True if the EKF has detected a GPS glitch +