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ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver

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bresch
2019-11-27 10:33:27 +01:00
committed by Mathieu Bresciani
parent 20705e3c53
commit 09c8c8f706
7 changed files with 22 additions and 23 deletions
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Tools/ecl_ekf/analysis/post_processing.py
+2 -2
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@@ -104,7 +104,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
# 0 : insufficient fix type (no 3D solution)
# 1 : minimum required sat count fail
# 2 : minimum required GDoP fail
# 2 : minimum required PDOP fail
# 3 : maximum allowed horizontal position error fail
# 4 : maximum allowed vertical position error fail
# 5 : maximum allowed speed error fail
@@ -114,7 +114,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
# 9 : maximum allowed vertical velocity discrepancy fail
gps_fail_flags['gfix_fail'] = ((2 ** 0 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['nsat_fail'] = ((2 ** 1 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['gdop_fail'] = ((2 ** 2 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['pdop_fail'] = ((2 ** 2 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['herr_fail'] = ((2 ** 3 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['verr_fail'] = ((2 ** 4 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['serr_fail'] = ((2 ** 5 & estimator_status['gps_check_fail_flags']) > 0) * 1