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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/ekf2/EKF/ekf.h
+8 -4
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@@ -220,13 +220,17 @@ public:
// return true if the global position estimate is valid
// return true if the origin is set we are not doing unconstrained free inertial navigation
// and have not started using synthetic position observations to constrain drift
bool global_position_is_valid() const
bool isGlobalHorizontalPositionValid() const
{
return (_pos_ref.isInitialized() && local_position_is_valid());
return _pos_ref.isInitialized() && isLocalHorizontalPositionValid();
}
// return true if the local position estimate is valid
bool local_position_is_valid() const
bool isGlobalVerticalPositionValid() const
{
return _pos_ref.isInitialized() && isLocalVerticalPositionValid();
}
bool isLocalHorizontalPositionValid() const
{
return !_horizontal_deadreckon_time_exceeded;
}