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commander: report GNSS yaw fault to user

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bresch
2021-08-05 11:10:02 +02:00
committed by Mathieu Bresciani
parent 44219e9f45
commit 01d0b8800e
9 changed files with 20 additions and 5 deletions
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msg/estimator_event_flags.msg
+1
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@@ -30,3 +30,4 @@ bool bad_yaw_using_gps_course # 7 - true when the fiter has detected
bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period
bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
msg/estimator_status.msg
+4
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@@ -46,6 +46,10 @@ uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect ind
uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from external vision measurements is intended
uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
msg/estimator_status_flags.msg
+1 -1
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@@ -31,7 +31,7 @@ bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment
bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
bool cs_gps_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes