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commander: report GNSS yaw fault to user

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bresch
2021-08-02 16:29:54 +02:00
committed by Mathieu Bresciani
parent 44219e9f45
commit 01d0b8800e
9 changed files with 20 additions and 5 deletions
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src/modules/ekf2/EKF2.cpp
+2
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@@ -641,6 +641,7 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
event_flags.stopping_mag_use = _ekf.warning_event_flags().stopping_mag_use;
event_flags.vision_data_stopped = _ekf.warning_event_flags().vision_data_stopped;
event_flags.emergency_yaw_reset_mag_stopped = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped;
event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped;
event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_event_flags_pub.publish(event_flags);
@@ -1172,6 +1173,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
status_flags.cs_ev_vel = _ekf.control_status_flags().ev_vel;
status_flags.cs_synthetic_mag_z = _ekf.control_status_flags().synthetic_mag_z;
status_flags.cs_vehicle_at_rest = _ekf.control_status_flags().vehicle_at_rest;
status_flags.cs_gps_yaw_fault = _ekf.control_status_flags().gps_yaw_fault;
status_flags.fault_status_changes = _filter_fault_status_changes;
status_flags.fs_bad_mag_x = _ekf.fault_status_flags().bad_mag_x;