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EKF2: add validity flags to global pos message (#23787)

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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Marco Hauswirth
2024-10-23 10:19:04 +02:00
committed by GitHub
co-authored by Mathieu Bresciani
parent 808153b049
commit 0c451552c7
16 changed files with 87 additions and 102 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+3 -1
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@@ -746,8 +746,10 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
}
}
const bool global_pos_valid = gpos.lat_lon_valid && gpos.alt_valid;
failsafe_flags.global_position_invalid =
!checkPosVelValidity(now, xy_valid, gpos.eph, lpos_eph_threshold, gpos.timestamp,
!checkPosVelValidity(now, global_pos_valid, gpos.eph, lpos_eph_threshold, gpos.timestamp,
_last_gpos_fail_time_us, !failsafe_flags.global_position_invalid);
// Additional warning if the system is about to enter position-loss failsafe after dead-reckoning period