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Saibernard
f19558335b
* test(commander): pin the estimator checks before restructuring them Sixteen cases on EstimatorChecks driven through its topics, one per behaviour of the file that the next commit moves: the preflight innovation and magnetic interference checks, GNSS fusion starting and stopping, spoofing and jamming, a failing GNSS check under each COM_ARM_WO_GPS setting, the sensor bias check, the compass fault and heading reference checks, the imminent position failure warning, low position accuracy, and the attitude, angular velocity and altitude validity flags. They observe the health report of a cycle and the events it sends. All pass on the file as it is. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> * refactor(commander): one function per estimator status check checkEstimatorStatus ran four hundred lines through eight levels of nesting, covering the preflight innovation checks, the magnetic interference check and everything about GNSS. Each of those is its own function now, named for what it checks, with an early return where a condition used to wrap the whole block, and the GNSS part is split further into the fusion change, the spoofing and jamming latches and the preflight quality check. In setModeRequirementFlags the one nested block, the warning of an imminent position failure, is extracted the same way, and the rest is left as flat sections. Three small simplifications on the way: the mavlink severity of a failed GNSS check follows the log level chosen for it instead of a second switch on the parameter, the spoofing and jamming latches are one comparison each, and the heading innovation flag that setModeRequirementFlags never read is no longer passed to it. The ITCM lists of the i.MX RT boards name setModeRequirementFlags by its new signature and take the functions split out of checkEstimatorStatus, so the same code stays in ITCM there. No event, message, condition or order of side effects changes. The extracted events are identical, and the twenty seven functional tests pass before and after. Assisted-by: Claude:claude-fable-5-1 Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu> --------- Signed-off-by: Saibernard Yogendran <bernie97@seas.upenn.edu>