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EKF: replace fault status struct with a union to facilitate logging

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Paul Riseborough
2016-05-07 21:11:16 +10:00
parent 7f5669fb2d
commit 020b87933e
7 changed files with 57 additions and 54 deletions
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EKF/common.h
+19 -16
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@@ -322,22 +322,25 @@ struct stateSample {
Vector2f wind_vel; // wind velocity in m/s
};
struct fault_status_t {
bool bad_mag_x: 1; // true if the fusion of the magnetometer X-axis has encountered a numerical error
bool bad_mag_y: 1; // true if the fusion of the magnetometer Y-axis has encountered a numerical error
bool bad_mag_z: 1; // true if the fusion of the magnetometer Z-axis has encountered a numerical error
bool bad_mag_hdg: 1; // true if the fusion of the magnetic heading has encountered a numerical error
bool bad_mag_decl: 1; // true if the fusion of the magnetic declination has encountered a numerical error
bool bad_airspeed: 1; // true if fusion of the airspeed has encountered a numerical error
bool bad_sideslip: 1; // true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool bad_optflow_X: 1; // true if fusion of the optical flow X axis has encountered a numerical error
bool bad_optflow_Y: 1; // true if fusion of the optical flow Y axis has encountered a numerical error
bool bad_vel_N: 1; // true if fusion of the North velocity has encountered a numerical error
bool bad_vel_E: 1; // true if fusion of the East velocity has encountered a numerical error
bool bad_vel_D: 1; // true if fusion of the Down velocity has encountered a numerical error
bool bad_pos_N: 1; // true if fusion of the North position has encountered a numerical error
bool bad_pos_E: 1; // true if fusion of the East position has encountered a numerical error
bool bad_pos_D: 1; // true if fusion of the Down position has encountered a numerical error
union fault_status_u {
struct {
bool bad_mag_x: 1; // 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
bool bad_mag_y: 1; // 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
bool bad_mag_z: 1; // 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
bool bad_mag_hdg: 1; // 3 - true if the fusion of the magnetic heading has encountered a numerical error
bool bad_mag_decl: 1; // 4 - true if the fusion of the magnetic declination has encountered a numerical error
bool bad_airspeed: 1; // 5 - true if fusion of the airspeed has encountered a numerical error
bool bad_sideslip: 1; // 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool bad_optflow_X: 1; // 7 - true if fusion of the optical flow X axis has encountered a numerical error
bool bad_optflow_Y: 1; // 8 - true if fusion of the optical flow Y axis has encountered a numerical error
bool bad_vel_N: 1; // 9 - true if fusion of the North velocity has encountered a numerical error
bool bad_vel_E: 1; // 10 - true if fusion of the East velocity has encountered a numerical error
bool bad_vel_D: 1; // 11 - true if fusion of the Down velocity has encountered a numerical error
bool bad_pos_N: 1; // 12 - true if fusion of the North position has encountered a numerical error
bool bad_pos_E: 1; // 13 - true if fusion of the East position has encountered a numerical error
bool bad_pos_D: 1; // 14 - true if fusion of the Down position has encountered a numerical error
} flags;
uint16_t value;
};